{
 "cells": [
  {
   "attachments": {},
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Importing Important Libraries"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "import math\n",
    "import sympy  as sp\n",
    "from sympy.matrices import Matrix\n",
    "from functools import partial\n",
    "import numpy as np\n",
    "import matplotlib.pyplot as plt\n",
    "from mpl_toolkits import mplot3d\n",
    "from math import pi\n",
    "import pprint\n",
    "pp=pprint.PrettyPrinter(indent=5)"
   ]
  },
  {
   "attachments": {},
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "##### Declaring Variables\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [],
   "source": [
    "theta_i, alpha_i, d_i, a_i, A_i, a_3, d_1, d_3, d_5, d_7 = sp.symbols('theta_i alpha_i d_i a_i A_i a_3 d_1, d_3, d_5, d_7')\n",
    "theta_1,theta_2,theta_3,theta_4,theta_5,theta_6,theta_7 = sp.symbols ('theta_1,theta_2, theta_3, theta_4, theta_5, theta_6, theta_7')"
   ]
  },
  {
   "attachments": {},
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "##### Rotation and Translation Matrices\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "\n",
      "Rotation Matrix for rotation about Z\n",
      "Matrix([\n",
      "[cos(theta_i), -sin(theta_i), 0, 0],\n",
      "[sin(theta_i),  cos(theta_i), 0, 0],\n",
      "[           0,             0, 1, 0],\n",
      "[           0,             0, 0, 1]])\n",
      "\n",
      "Rotation Matrix for rotation about X\n",
      "Matrix([\n",
      "[1,            0,             0, 0],\n",
      "[0, cos(alpha_i), -sin(alpha_i), 0],\n",
      "[0, sin(alpha_i),  cos(alpha_i), 0],\n",
      "[0,            0,             0, 1]])\n",
      "\n",
      "Translation Matrix for translation about Z\n",
      "Matrix([\n",
      "[1, 0, 0,   0],\n",
      "[0, 1, 0,   0],\n",
      "[0, 0, 1, d_i],\n",
      "[0, 0, 0,   1]])\n",
      "\n",
      "Translation Matrix for translation about X\n",
      "Matrix([\n",
      "[1, 0, 0, a_i],\n",
      "[0, 1, 0,   0],\n",
      "[0, 0, 1,   0],\n",
      "[0, 0, 0,   1]])\n"
     ]
    }
   ],
   "source": [
    "Rot_z = sp.Matrix([ [sp.cos(theta_i), -sp.sin(theta_i),0,0], [sp.sin(theta_i),sp.cos(theta_i),0,0], [0,0,1,0], [0,0,0,1] ]);\n",
    "Rot_x = sp.Matrix([ [1,0,0,0], [0,sp.cos(alpha_i), -sp.sin(alpha_i),0], [0, sp.sin(alpha_i), sp.cos(alpha_i), 0], [0,0,0,1] ]); \n",
    "Tran_z = sp.Matrix([[1,0,0,0], [0,1,0,0], [0,0,1,d_i], [0,0,0,1]]);\n",
    "Tran_x = sp.Matrix([[1,0,0,a_i], [0,1,0,0], [0,0,1,0], [0,0,0,1]]);\n",
    "print(\"\\nRotation Matrix for rotation about Z\")\n",
    "pp.pprint(Rot_z)\n",
    "print(\"\\nRotation Matrix for rotation about X\")\n",
    "pp.pprint(Rot_x)\n",
    "print(\"\\nTranslation Matrix for translation about Z\")\n",
    "pp.pprint(Tran_z)\n",
    "print(\"\\nTranslation Matrix for translation about X\")\n",
    "pp.pprint(Tran_x)"
   ]
  },
  {
   "attachments": {},
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "##### General Homogeneous Matrix"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Matrix([\n",
      "[cos(theta_i), -sin(theta_i)*cos(alpha_i),  sin(alpha_i)*sin(theta_i), a_i*cos(theta_i)],\n",
      "[sin(theta_i),  cos(alpha_i)*cos(theta_i), -sin(alpha_i)*cos(theta_i), a_i*sin(theta_i)],\n",
      "[           0,               sin(alpha_i),               cos(alpha_i),              d_i],\n",
      "[           0,                          0,                          0,                1]])\n"
     ]
    }
   ],
   "source": [
    "A_i=Rot_z*Tran_z*Tran_x*Rot_x;\n",
    "pp.pprint(A_i)"
   ]
  },
  {
   "attachments": {},
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### DH Parameter Table for Fixed $\\theta_3$"
   ]
  },
  {
   "attachments": {},
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "| Link | $a_i$ | $\\theta_i$ | $\\alpha_i$ | $d_i$ |\n",
    "| --- | --- | --- | --- | --- |\n",
    "| 1 | 0 | $\\theta_1^*$ | 90 | $d_1$ |\n",
    "| 2 | 0 | $\\theta_2^*$ | -90 | 0 |\n",
    "| 3 | $a_3$ | 0 | -90 | $d_3$ |\n",
    "| 4 | $-a_3$ | $\\theta_4^*$ | 90 | 0 |\n",
    "| 5 | 0 | $\\theta_5^*$ | 90 | $d_5$ |\n",
    "| 6 | $a_3$ | $\\theta_6^*$ | -90 | 0 |\n",
    "| 7 | 0 | $\\theta_7^*$ | 0 | $-d_7$ |"
   ]
  },
  {
   "attachments": {},
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "##### Homogenous Matrix Ad0"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/latex": [
       "$\\displaystyle \\left[\\begin{matrix}6.12323399573677 \\cdot 10^{-17} & 6.12323399573677 \\cdot 10^{-17} & -1.0 & 0\\\\-1.0 & 3.74939945665464 \\cdot 10^{-33} & -6.12323399573677 \\cdot 10^{-17} & 0\\\\0 & 1.0 & 6.12323399573677 \\cdot 10^{-17} & 0\\\\0 & 0 & 0 & 1\\end{matrix}\\right]$"
      ],
      "text/plain": [
       "Matrix([\n",
       "[6.12323399573677e-17, 6.12323399573677e-17,                  -1.0, 0],\n",
       "[                -1.0, 3.74939945665464e-33, -6.12323399573677e-17, 0],\n",
       "[                   0,                  1.0,  6.12323399573677e-17, 0],\n",
       "[                   0,                    0,                     0, 1]])"
      ]
     },
     "execution_count": 6,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "Ad0=A_i.subs([(theta_i,math.radians(-90)),(alpha_i,math.radians(90)),(a_i,0),(d_i,0)])\n",
    "Ad0"
   ]
  },
  {
   "attachments": {},
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "##### Homogenous Matrix A1"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/latex": [
       "$\\displaystyle \\left[\\begin{matrix}\\cos{\\left(\\theta_{1} \\right)} & - \\sin{\\left(\\theta_{1} \\right)} & 0 & 0\\\\\\sin{\\left(\\theta_{1} \\right)} & \\cos{\\left(\\theta_{1} \\right)} & 0 & 0\\\\0 & 0 & 1 & 0\\\\0 & 0 & 0 & 1\\end{matrix}\\right]$"
      ],
      "text/plain": [
       "Matrix([\n",
       "[cos(theta_1), -sin(theta_1), 0, 0],\n",
       "[sin(theta_1),  cos(theta_1), 0, 0],\n",
       "[           0,             0, 1, 0],\n",
       "[           0,             0, 0, 1]])"
      ]
     },
     "execution_count": 7,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "A1=A_i.subs([(theta_i,theta_1),(alpha_i,math.radians(0)),(a_i,0),(d_i,0)])\n",
    "A1"
   ]
  },
  {
   "attachments": {},
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "##### Homogenous Matrix Ad1"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/latex": [
       "$\\displaystyle \\left[\\begin{matrix}6.12323399573677 \\cdot 10^{-17} & 6.12323399573677 \\cdot 10^{-17} & 1.0 & 0\\\\-1.0 & 3.74939945665464 \\cdot 10^{-33} & 6.12323399573677 \\cdot 10^{-17} & 0\\\\0 & -1.0 & 6.12323399573677 \\cdot 10^{-17} & -64.85\\\\0 & 0 & 0 & 1\\end{matrix}\\right]$"
      ],
      "text/plain": [
       "Matrix([\n",
       "[6.12323399573677e-17, 6.12323399573677e-17,                  1.0,      0],\n",
       "[                -1.0, 3.74939945665464e-33, 6.12323399573677e-17,      0],\n",
       "[                   0,                 -1.0, 6.12323399573677e-17, -64.85],\n",
       "[                   0,                    0,                    0,      1]])"
      ]
     },
     "execution_count": 8,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "Ad1=A_i.subs([(theta_i,math.radians(-90)),(alpha_i,math.radians(-90)),(a_i,0),(d_i,-64.85)])\n",
    "Ad1"
   ]
  },
  {
   "attachments": {},
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "##### Homogenous Matrix A2"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/latex": [
       "$\\displaystyle \\left[\\begin{matrix}\\cos{\\left(\\theta_{2} \\right)} & - \\sin{\\left(\\theta_{2} \\right)} & 0 & 0\\\\\\sin{\\left(\\theta_{2} \\right)} & \\cos{\\left(\\theta_{2} \\right)} & 0 & 0\\\\0 & 0 & 1 & 140\\\\0 & 0 & 0 & 1\\end{matrix}\\right]$"
      ],
      "text/plain": [
       "Matrix([\n",
       "[cos(theta_2), -sin(theta_2), 0,   0],\n",
       "[sin(theta_2),  cos(theta_2), 0,   0],\n",
       "[           0,             0, 1, 140],\n",
       "[           0,             0, 0,   1]])"
      ]
     },
     "execution_count": 9,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "A2=A_i.subs([(theta_i,theta_2),(alpha_i,math.radians(0)),(a_i,0),(d_i,140)])\n",
    "A2"
   ]
  },
  {
   "attachments": {},
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "##### Homogenous Matrix Ad2"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 10,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/latex": [
       "$\\displaystyle \\left[\\begin{matrix}1 & 0 & 0 & 500\\\\0 & 1 & 0 & 0\\\\0 & 0 & 1 & 0\\\\0 & 0 & 0 & 1\\end{matrix}\\right]$"
      ],
      "text/plain": [
       "Matrix([\n",
       "[1, 0, 0, 500],\n",
       "[0, 1, 0,   0],\n",
       "[0, 0, 1,   0],\n",
       "[0, 0, 0,   1]])"
      ]
     },
     "execution_count": 10,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "Ad2=A_i.subs([(theta_i,math.radians(0)),(alpha_i,math.radians(0)),(a_i,500),(d_i,0)])\n",
    "Ad2"
   ]
  },
  {
   "attachments": {},
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "##### Homogenous Matrix A3"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 11,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/latex": [
       "$\\displaystyle \\left[\\begin{matrix}\\cos{\\left(\\theta_{3} \\right)} & - \\sin{\\left(\\theta_{3} \\right)} & 0 & 0\\\\\\sin{\\left(\\theta_{3} \\right)} & \\cos{\\left(\\theta_{3} \\right)} & 0 & 0\\\\0 & 0 & 1 & 0\\\\0 & 0 & 0 & 1\\end{matrix}\\right]$"
      ],
      "text/plain": [
       "Matrix([\n",
       "[cos(theta_3), -sin(theta_3), 0, 0],\n",
       "[sin(theta_3),  cos(theta_3), 0, 0],\n",
       "[           0,             0, 1, 0],\n",
       "[           0,             0, 0, 1]])"
      ]
     },
     "execution_count": 11,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "A3=A_i.subs([(theta_i,theta_3),(alpha_i,math.radians(0)),(a_i,0),(d_i,0)])\n",
    "A3"
   ]
  },
  {
   "attachments": {},
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "##### Homogenous Matrix A4"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 12,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/latex": [
       "$\\displaystyle \\left[\\begin{matrix}1 & 0 & 0 & 450\\\\0 & 1 & 0 & 0\\\\0 & 0 & 1 & 0\\\\0 & 0 & 0 & 1\\end{matrix}\\right]$"
      ],
      "text/plain": [
       "Matrix([\n",
       "[1, 0, 0, 450],\n",
       "[0, 1, 0,   0],\n",
       "[0, 0, 1,   0],\n",
       "[0, 0, 0,   1]])"
      ]
     },
     "execution_count": 12,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "A4=A_i.subs([(theta_i,0),(alpha_i,math.radians(0)),(a_i,450),(d_i,0)])\n",
    "A4"
   ]
  },
  {
   "attachments": {},
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Steps to Get the Jacobian Matrix usinh Method 2"
   ]
  },
  {
   "attachments": {},
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "##### Transformation Matrix  $T_e^0$ from $O_0$ to $O_e$"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 13,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Transformation Matrix with joint angle set to required position\n"
     ]
    },
    {
     "data": {
      "text/latex": [
       "$\\displaystyle \\left[\\begin{matrix}0 & 1.0 & 0 & -288.703390593274\\\\-6.12323399573677 \\cdot 10^{-17} & 0 & -1.0 & -140.0\\\\-1.0 & 0 & 6.12323399573677 \\cdot 10^{-17} & -803.553390593274\\\\0 & 0 & 0 & 1\\end{matrix}\\right]$"
      ],
      "text/plain": [
       "Matrix([\n",
       "[                    0, 1.0,                    0, -288.703390593274],\n",
       "[-6.12323399573677e-17,   0,                 -1.0,            -140.0],\n",
       "[                 -1.0,   0, 6.12323399573677e-17, -803.553390593274],\n",
       "[                    0,   0,                    0,                 1]])"
      ]
     },
     "execution_count": 13,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "T1=Ad0*A1\n",
    "T2=Ad0*A1*Ad1*A2\n",
    "T3=Ad0*A1*Ad1*A2*Ad2*A3\n",
    "T4=Ad0*A1*Ad1*A2*Ad2*A3*A4\n",
    "T = T4.subs([(theta_1,math.radians(0)),(theta_2,math.radians(-45)),(theta_3,math.radians(45))])\n",
    "print(\"Transformation Matrix with joint angle set to required position\")\n",
    "T\n"
   ]
  },
  {
   "attachments": {},
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "#### Calculating the Z vector for all links"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 14,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "The Z0 matrix is given:\n",
      "Matrix([\n",
      "[                 -1.0],\n",
      "[-6.12323399573677e-17],\n",
      "[ 6.12323399573677e-17]])\n"
     ]
    }
   ],
   "source": [
    "print (\"The Z0 matrix is given:\")\n",
    "Z0 = T1[:3,2]\n",
    "pp.pprint(Z0)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 15,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "The Z1 matrix is given:\n",
      "Matrix([\n",
      "[6.12323399573677e-17*sin(theta_1) + 6.12323399573677e-17*cos(theta_1) - 6.12323399573677e-17],\n",
      "[                 6.12323399573677e-17*sin(theta_1) - 1.0*cos(theta_1) - 3.74939945665464e-33],\n",
      "[                 1.0*sin(theta_1) + 6.12323399573677e-17*cos(theta_1) + 3.74939945665464e-33]])\n"
     ]
    }
   ],
   "source": [
    "print (\"The Z1 matrix is given:\")\n",
    "Z1 = T2[:3,2]\n",
    "pp.pprint(Z1)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 16,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "The Z2 matrix is given:\n",
      "Matrix([\n",
      "[6.12323399573677e-17*sin(theta_1) + 6.12323399573677e-17*cos(theta_1) - 6.12323399573677e-17],\n",
      "[                 6.12323399573677e-17*sin(theta_1) - 1.0*cos(theta_1) - 3.74939945665464e-33],\n",
      "[                 1.0*sin(theta_1) + 6.12323399573677e-17*cos(theta_1) + 3.74939945665464e-33]])\n"
     ]
    }
   ],
   "source": [
    "print (\"The Z2 matrix is given:\")\n",
    "Z2 = T3[:3,2]\n",
    "pp.pprint(Z2)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 17,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "The Z4 matrix is given:\n",
      "Matrix([\n",
      "[6.12323399573677e-17*sin(theta_1) + 6.12323399573677e-17*cos(theta_1) - 6.12323399573677e-17],\n",
      "[                 6.12323399573677e-17*sin(theta_1) - 1.0*cos(theta_1) - 3.74939945665464e-33],\n",
      "[                 1.0*sin(theta_1) + 6.12323399573677e-17*cos(theta_1) + 3.74939945665464e-33]])\n"
     ]
    }
   ],
   "source": [
    "print (\"The Z4 matrix is given:\")\n",
    "Z3 = T4[:3,2]\n",
    "pp.pprint(Z3)"
   ]
  },
  {
   "attachments": {},
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "#### Forming the columns $J_1$ to $J_6$ of the Jacobian Matrix"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 18,
   "metadata": {
    "scrolled": true
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "The initial jacobian matrix for home position is given by:\n"
     ]
    },
    {
     "data": {
      "text/latex": [
       "$\\displaystyle \\left[\\begin{matrix}6.67432505535308 \\cdot 10^{-14} & 950.0 & 450.0\\\\-950.0 & 0 & 0\\\\140.0 & -5.81707229594993 \\cdot 10^{-14} & -2.75545529808154 \\cdot 10^{-14}\\\\-1.0 & 0 & 0\\\\-6.12323399573677 \\cdot 10^{-17} & -1.0 & -1.0\\\\6.12323399573677 \\cdot 10^{-17} & 6.12323399573677 \\cdot 10^{-17} & 6.12323399573677 \\cdot 10^{-17}\\end{matrix}\\right]$"
      ],
      "text/plain": [
       "Matrix([\n",
       "[ 6.67432505535308e-14,                 950.0,                 450.0],\n",
       "[               -950.0,                     0,                     0],\n",
       "[                140.0, -5.81707229594993e-14, -2.75545529808154e-14],\n",
       "[                 -1.0,                     0,                     0],\n",
       "[-6.12323399573677e-17,                  -1.0,                  -1.0],\n",
       "[ 6.12323399573677e-17,  6.12323399573677e-17,  6.12323399573677e-17]])"
      ]
     },
     "execution_count": 18,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "Xp=T4[:3,3]\n",
    "diff_thet_1 = Xp.diff(theta_1) #Partially differentiating Xp wrt θ1\n",
    "\n",
    "diff_thet_2 = Xp.diff(theta_2) #Partially differentiating Xp wrt θ2\n",
    "\n",
    "diff_thet_3 = Xp.diff(theta_3) #Partially differentiating Xp wrt θ4\n",
    "\n",
    "\n",
    "print(\"The initial jacobian matrix for home position is given by:\")\n",
    "J = Matrix([[diff_thet_1[0],diff_thet_2[0],diff_thet_3[0]],\n",
    "          [diff_thet_1[1],diff_thet_2[1],diff_thet_3[1]],\n",
    "          [diff_thet_1[2],diff_thet_2[2],diff_thet_3[2]],\n",
    "          [Z0[0],Z1[0],Z2[0]],[Z0[1],Z1[1],Z2[1]],[Z0[2],Z1[2],Z2[2]]])\n",
    "\n",
    "J1=J.subs([(theta_1,0),(theta_2,0),(theta_3,0)])\n",
    "J1"
   ]
  },
  {
   "attachments": {},
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Circle equations"
   ]
  },
  {
   "attachments": {},
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "#### The equation of ciecle is given by\n",
    "$y^2+(z-72.5)^2=100$  \n",
    "Using the polar form  \n",
    "$y=r\\cos(\\theta),z=r\\sin(\\theta)$  \n",
    "Therefore,  \n",
    "$\\dot{y}=r\\cos(\\theta)\\dot{\\theta}$  \n",
    "$\\dot{z}=r\\sin(\\theta)\\dot{\\theta}$\n",
    "\n",
    "Also, $\\dot{\\theta}=\\frac{2\\pi}{5}$"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 19,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/latex": [
       "$\\displaystyle \\left[\\begin{matrix}0.717356090899523 & 0.696706709347165 & 0 & 65.5513972859398\\\\-4.26609820773246 \\cdot 10^{-17} & 4.39253920284479 \\cdot 10^{-17} & -1.0 & -140.0\\\\-0.696706709347165 & 0.717356090899523 & 6.12323399573677 \\cdot 10^{-17} & -695.939112848469\\\\0 & 0 & 0 & 1\\end{matrix}\\right]$"
      ],
      "text/plain": [
       "Matrix([\n",
       "[    0.717356090899523,    0.696706709347165,                    0,  65.5513972859398],\n",
       "[-4.26609820773246e-17, 4.39253920284479e-17,                 -1.0,            -140.0],\n",
       "[   -0.696706709347165,    0.717356090899523, 6.12323399573677e-17, -695.939112848469],\n",
       "[                    0,                    0,                    0,                 1]])"
      ]
     },
     "execution_count": 19,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "T=T4\n",
    "T_eval=T.subs([(theta_1,0),(theta_2,-0.7),(theta_3,1.5)])\n",
    "# T_eval.simplify()\n",
    "T_eval"
   ]
  },
  {
   "attachments": {},
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "#### Using the above equations and the Jacobian matrix we compute the tool positions over a time period using Numerical Integration"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 20,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Computing Trajectory\n",
      "........................................................................................................................................................................................................."
     ]
    }
   ],
   "source": [
    "import numpy as np\n",
    "import sympy as sp\n",
    "x,y,z,r,o=sp.symbols(\"x y z r theta\")\n",
    "dt=0.05  #Time difference\n",
    "t_1=[math.radians(0)]  #Theta 1\n",
    "t_2=[-0.7]  #Theta 2\n",
    "t_3=[1.5]  #Theta 4\n",
    "front_right_joint=[]\n",
    "T=T4\n",
    "x_tool=[]\n",
    "y_tool=[]\n",
    "z_tool=[]\n",
    "#Tool Velocity Matrix\n",
    "X=sp.Matrix([[100*sp.sin((2*np.pi*o)/200)*(2*np.pi)/10],[0],[100*sp.cos((2*np.pi*o)/200)*(2*np.pi)/10],[0],[0],[0]])\n",
    "X1=sp.Matrix([[-40],[0],[0],[0],[0],[0]])\n",
    "file_name='trot_front_right.npy'\n",
    "i=0\n",
    "j=0\n",
    "print(\"Computing Trajectory\")\n",
    "while i<=200:\n",
    "    if i<100:\n",
    "        X_eval=X.subs(o,i)\n",
    "    if i>100:\n",
    "        X_eval=X1.subs(o,j)\n",
    "        j+=1\n",
    "    front_right_joint.append([t_1[i],t_2[i],t_3[i]])\n",
    "    T_eval=T.subs([(theta_1,t_1[i]),(theta_2,t_2[i]),(theta_3,t_3[i])])\n",
    "    x_tool.append(T_eval[3])\n",
    "    y_tool.append(T_eval[7])\n",
    "    z_tool.append(T_eval[11])\n",
    "    J_eval=J.subs([(theta_1,t_1[i]),(theta_2,t_2[i]),(theta_3,t_3[i])])\n",
    "    q=J_eval.pinv()*X_eval\n",
    "    q=q*dt\n",
    "#     print(q)\n",
    "    t_1.append(q[0]+t_1[i])\n",
    "    t_2.append(q[1]+t_2[i])\n",
    "    t_3.append(q[2]+t_3[i])\n",
    "    \n",
    "    print(\".\",end=\"\")\n",
    "    i=i+1\n",
    "\n",
    "array = np.array(front_right_joint)\n",
    "np.save(file_name, array)"
   ]
  },
  {
   "attachments": {},
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Plotting trajectory in 2D Space"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 21,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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",
      "text/plain": [
       "<Figure size 640x480 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "import matplotlib.pyplot as plt\n",
    "plt.plot(x_tool,z_tool)\n",
    "# plt.scatter(0,0.725)\n",
    "plt.xlabel(\"y coordinate\")\n",
    "plt.ylabel(\"z coordinate\")\n",
    "plt.axis(\"equal\")\n",
    "plt.title(\"Trajectory of Robot\")\n",
    "plt.grid(True)\n",
    "plt.show()"
   ]
  },
  {
   "attachments": {},
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Plotting Trajectory in 3D Space"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 22,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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HsWLFCnzxxRe47bbbUF1djZNPPhnLly/HJ598go8++ginn346gsHghPe//PLL8fHHH+OFF15AbW0tzjnnHHzjG99Ac3PzhLeP1XMJAMXFxXjkkUdw88034+KLL4bNZpvVUDG5xyz0vRrKbrfjmWeeQX19PR577DE8/fTTeOSRRyJq/89+9jNs27YNTz75JOrq6vCDH/wAF198Md5///2I2ztjgoiIiCjE8PCwqK+vF8PDw0d/IElCjA4m5j9JmnG7L730UnHGGWco//70009Fdna2OPfcc4UQQtxxxx3CZDKJrq4u5TZvv/22MBgMor29XflZXV2dACA+++wzIYQQ27ZtE06nU/n91772NXHvvfeGHfu5554TBQUFQggh/vznPwu9Xi/cbveE7Rz7eLLS0lLxyCOPzLhdd9xxh7BaraK/v1+5zc033yw2bNgw6XN04YUXilNPPTXsZzfffLOoqKhQ/n3DDTeIzZs3T/oYQghhsVjE9ddfP+VthBBi8+bN4oYbbgg7xzPPPDPsNhdccIGoqqqa0WO0tLQInU4n9u/fH3abk08+Wdx6660T3j9Wz2WojRs3CgDi008/nfa2Y1//jo4OsXHjRjF//nwxOjoqhBACgHjttdcmfYwHHnhArFmzRvn3dO0fHBwU6enpYvv27WGPc8UVV4gLLrhgwmOM+xyYBc7RICIioqn5vcC9hYk59k8OAGmTXx0f680334TNZkMgEIDf78cZZ5yBJ554Qvl9aWlp2FyIhoYGFBcXo7i4WPlZRUUFXC4XGhoasG7dunHH+OKLL7Bjxw6lBwMAgsEgRkZG4PV6UV1djfnz52PJkiWRnm3E7SorK4PdblduU1BQgK6urikf94wzzgj7WVVVFR599FEEg8EZzw8QQkCn00VySoq1a9eG/bu6uhrnnHPOjO775ZdfQggx7rkdHR1Fdnb2hPeJ1XMpq6mpwRdffAGr1YoPP/wQ69evn/Y+fX19sNlsEELA6/Vi9erVePXVVyedr/Lyyy/j0UcfRUtLCwYHBxEIBOBwOMJuM1X76+vrMTIyglNPPTXsPj6fb8JeqWhh0CAiIqKUcdJJJ+HJJ5+EyWRCYWHhuMneY4f0TFYwT1VIS5KEO++8E2eddda436Wnp0dl4vhM2zX2/HQ6HSRJiuhxhRARt2/JkiVoaGiI+H7A+NcgkudLkiQYDAZ88cUX40KRzWab8D6xei6Bo4X6JZdcggsuuACnnnoqrrrqKpx++unThky73Y4vv/wSer0eeXl5Uw41+/vf/47zzz8fd955J7Zs2QKn04kXXnghbG7NdO2X//ePf/wjioqKwm5nNpunbOtcMGgQERHR1EzWoz0LiTp2BDIyMrBo0aIZ376iogLt7e3o6OhQrnjX19ejr68Py5Ytm/A+q1evhtvtnvQ4xx13HPbt24empqYJC860tLRJ5x/MpV0zUVFRgY8++ijsZ9u3b8eSJUsiWu3owgsvxE9+8hN89dVX466IBwIBjI6OTlk8hzruuOPw7rvv4s4775z2tqtWrUIwGERXVxe+9rWvzejxY/VcAsBdd92FI0eO4LHHHoPL5cLLL7+Myy+/HB9++CH0+smnQuv1+hm/Tz/++GOUlpbipz/9qfKzvXv3RtTOiooKmM1mtLe3Y/PmzRHddy44GZyIiIimptMdHb6UiP9mOTxnpk455RQcd9xxuOiii/Dll1/is88+wyWXXILNmzePG+Iju/322/Gb3/wGW7duRV1dHRoaGvDiiy/iZz/7GQBg8+bNOOGEE3D22WfjnXfeQVtbG/73f/8Xb731FoCjQ1wGBwfx7rvv4vDhwxPutzCbds3EjTfeiHfffRd33303mpqa8Oyzz+Lf//3fJ5yQPpXvf//7qKqqwsknn4xf/vKXqKmpwe7du/HSSy9hw4YNk07Mnsitt96KHTt24LrrrkNtbS0aGxvx5JNP4vDhw+Nuu2TJElx00UW45JJL8Oqrr6KtrQ07duzA/fffjz/96U8TPn6snsvPP/8c999/P/7rv/5LWZXsV7/6FRobG8dN1J6LRYsWob29HS+88AJaW1vx+OOP47XXXovoMex2O2666Sb84Ac/wLPPPovW1lZ89dVX+OUvf4lnn302am0di0GDiIiINEvegTkzMxMnnHACTjnlFJSXl+PFF1+c9D5btmzBm2++iXfeeQfr1q3Dxo0b8Ytf/AKlpaXKbV555RWsW7cOF1xwASoqKnDLLbcovRiVlZW49tprcd555yE3NxcPPPBAVNo1E6tXr8ZLL72EF154AStWrMDtt9+Ou+66C5dddllEj2M2m/HOO+/glltuwVNPPYWNGzdi3bp1ePzxx3H99ddPuQfHWEuWLMHbb7+NmpoarF+/Hps2bcL//M//wGiceODNtm3bcMkll+DGG2/E0qVL8e1vfxuffvpp2ByMULF4LkdHR3HppZfi8ssvxze+8Q3l5/n5+XjiiSfws5/9DG63e9aPH+qMM87AD37wA3zve9/DypUrsX37dtx2220RP87dd9+N22+/HT//+c+xbNkybNmyBW+88QYWLFgQlXZORCdmMzCPiIiIUtbIyAja2tqwYMECpKenJ7o5CffUU0/h7rvvxr59+xLdFKK4icbnAHs0iIiIiCbR0dGBP/3pT1i+fHmim0KkOpwMTkRERDSJ1atXo6ioSNnQjohmjkGDiIiIaBLd3d2JbgKRanHoFBERERERRR2DBhHRNCRJQjAYnNWmVkRERFrFoVNERJMQQiAYDGJ0dBSjo6MwGAwwmUwwGo0wGAzQ6/WT7hxMlAoYrom0Kxp//wwaREQTEELA7/crPRk6nQ5CCIyMjAA4ui67Xq9n8KCUJO8Q7fP5YLFYEtwaIkoEeSNJk8k068dg0CAiCiGEgCRJ8Pv9SsCQQ4Ver4fBYIAQQvmPwYNSkdFohNVqRXd3N0wmE/R6jrQm0gohBLxeL7q6uuByuZQLD7PBDfuIiP4/IQQCgQACgQAAKCEjGAzC7/dPWmyFBg9JkpT7MniQmvl8PrS1tSnvaSLSFpfLhfz8/Dl9bzFoEBEBSi9GMBhUQoJsuqAxFoMHpQpJkuDz+RLdDCKKM5PJNKeeDBmDBhFpmjzhOxAIQJKkCYv/SIPGRMeYKHgIIWAwGGCxWBg8iIgo5XCOBhFpVuiEbwAxK/TlIVgAwuZ47N+/H4cPH8aKFSvY40FERCmHQYOINEnupZisFyOUHAyiJXSCuU6ng9Fo5ORyIiJKOQwaRKQpoRO+hRAJLd7l407W48HgQUREasagQUSaIUkSAoFAzIdKRWKinpKZBg+DwQCj0cjgQURESYlBg4hS3mR7YyTaTNswWfCQJInBg4iIkhaDBhGltLETvpMlZMhmM/eDwYOIiNSAQYOIUlbo3hjJWGRHqz0MHkRElIwYNIgo5cxkb4xkEYutjBg8iIgoGTBoEFFKicXeGGovvhk8iIgoERg0iChlRLI3RjJI5LK6DB5ERBRrDBpEpHry3hh79uxBT08Pjj/+eFUUxDqdLiZDp2bTDgYPIiKKNgYNIlI1ecK3JEnK3AwWv3PD4EFERNHAoEFEqhS6N4Y8VEqv18dscnUsJEuPxnRmEjzk55/Bg4iIZAwaRKQ6k034VkvhrnZTBY/R0VGMjIwweBAREYMGEanLVHtjxDJoxKJATpVgNHYTRAYPIiICGDSISCXk+Rd+vx9CiAmL1FQp3NVusuDh8/nw3nvvYePGjUhLS2PwICJKcQwaRJT0Zro3hhqDhtraOxty8JDn0BiNRuh0OvZ4EBGlOAYNIkpaoRO+hRDjrpSPpbagodUiWg4dMg61IiJKTQwaRJSU5L0xAoEAgPHDcSaitqABaKNHYzqTDbUKBoMIBoMMHkREKsWgQURJJ3TC99ir31NRW9BgkTyx0KFWAIMHEZFaMWgQUdKQi8lAIKDsjRFp4aimoAGor72JwOBBRKRODBpElBRmOuF7KmorKtXW3mTB4EFEpA4MGkSUcJIkwefzzboXQyavZBRtIyMj8Hg8cLlcMJlMUX1s9mjM3XTBY3R0VPk9gwcRUfwwaBBRwoRO+J5sb4xIxKJo7Orqws6dO6HX6zE6Ogq73Y7MzEy4XC64XC4YjbP/GGWRGxsMHkREyYFBg4gSQpIkBAKBOQ2VGiuak8ElSYLb7cb+/fuxbNkyZGdnw+/3w+PxwOPxoLm5GSMjI+OCh8FgiOg47NGIPQYPIqLEYNAgoriKdG+MSEQraAwNDaGmpgYAUFlZifT0dPh8PpjNZuTn5yM/Px/A/w2p8ng8cLvdGB0dhcPhUIKH0+mcMniwiE0MBg8iovhg0CCiuBk74TuaIUN+vLkGjf3796O+vh7FxcVYsmQJ9Hr9pPM+0tPTUVBQgIKCAgDA8PCwEjw6Ozvh9/vHBY+xS/VqsUcj2Yp1Bg8iothg0CCiuAjdGyNWBdpcgkYgEEB9fT26u7uxcuVK5ObmRvwYFosFFosFhYWFEEKEBY/9+/cjEAjA6XQiMzMTmZmZmgwZasDgQUQUHQwaRBRT0dgbY6ZmGzT6+/tRXV2N9PR0VFVVIT09PSptsVqtsFqtKCoqghACXq9XCR4dHR0IBoMQQmDv3r3IzMyEzWab8eaEFD8MHkREs8OgQUQxE429MSIRadAQQqC9vR1NTU0oLy9HeXl5TENQRkYGMjIyMH/+fAgh0NXVhYaGBvT19WHv3r0QQsDlcik9HjabjYVqEmLwICKaGQYNIoqJYDAIv9+Pv/zlL6isrERGRkbMjxlJ0PD5fNi1axf6+/uxZs0aZGVlxbh14eQeD71ej+OOOw5CCAwODio9Hm1tbdDpdGHBIyMjg4VqEpoueDQ0NCAvLw8OhwMmkwkGg4HBg4g0gUGDiKIqdG+M0J/Fw0yDRk9PD2pra+FwOFBZWYm0tLQ4tG680CJTp9PBbrfDbrejpKQEkiQpwePIkSPYvXs39Hp9WPCwWq0sVJPQ2ODR09ODrKwsJXjIt9Hr9QweRJTSGDSIKGrkCd/yKk1ywZUsQUMIgdbWVrS1tWHJkiUoKSlJ2sJOr9fD4XDA4XCgtLQUkiRhYGAAHo8H3d3daGlpgdFoDAseFoslac9Hy+TNKOXNHUN7PAKBQFgwYfAgolTCoEFEcxa6N8bYCd/JEjRGRkZQW1uLkZERbNiwAQ6HIy5tmkokz41er4fT6YTT6URZWRkkSUJ/fz88Hg8OHTqE5uZmGI1GJXRkZmYiPT2dhWqSGNt7NdlQKwYPIkolDBpENCfTTfiOd9CQ2xTahu7ubtTW1iI3NxerV69WriyrmTyMyuVyYcGCBQgGg0rw6OzshNvtRlpa2rjgQfE33ft/psHDYDAoE8uNRmPU96EhIoo29X/bElHCzGRvjEQGDUmS0NTUhI6ODlRUVKCoqCgu7ZipaD43BoNBCRTA0cn4fX19yh4ejY2NMJvNYcHDbDZH5dg0vUgCwWTBIxAIwO/3M3gQkWowaBBRxOSrrX6/Xxl/PlmBIxf88RAaNLxeL6qrqwEgbqteJRODwYCsrCxlNa1AIKAEj46ODtTX18NqtYbN8Yj1pHitblA4toctUgweRKRWDBpEFJFI98bQ6/VxLzA7OzvR2NiIoqIiLF26NCqb4MWqYIvXc2M0GpGdnY3s7GwAgN/vV4LH3r17UVdXh4yMDCV4uFyuhK3GlWqi/RozeBCRWjBoENGMyb0YkezwHc+hU/JxGhsbcdxxx2HevHlRf/xoFmqJLPpMJhNycnKQk5MD4Gjw6O3tVfbwGBoags1mCwseJpMpYe1Vu1hvVMngQUTJiEGDiKY1dm+MSFa/iVfQGBgYUIZKrV+/PuqrSkU7ZIQ+bjIwmUzIzc1Fbm4ugKMbGsrBo7W1FV6vF3a7PSx4pMKk+niI92scafCQwweDBxFFG78liGhKY/fGiHQYUqyDhhACHR0dcLvdKC0txe7du1WzulIyF3VpaWmYN2+e0is0OjoKj8eD3t5eNDc3Y2RkJCx4OJ1OBo8pJPK1ZvAgokThtwIRTSh0ec1IhkqNpdfrYzYZ3O/3Y9euXejt7cXq1auRmZmJ3bt3x23y+VxNthxvMjKbzcjPz0d+fj6Ao/uSyMHD7XZjdHQUDocjLHgYDCu3FC8AACAASURBVIYEtzo5JNvry+BBRPHCoEFE40Q64XsqserR8Hg8qKmpgd1uR1VVFdLS0pJmGJIWpKeno6CgAAUFBQCA4eFhJXg0NDTA5/PB6XSGBQ9KTgweRBQrDBpEFEaSJPh8vjn1YoSKdtAQQqCtrQ2tra1YvHgxSktLw3Yhl2+jBmrq0ZiOxWKBxWJBYWEhhBBhwePAgQMIBAKw2+0AgL6+PrhcrqisBqYGant9GTyIKFoYNIgIQGR7Y0QimkFjdHQUtbW1GB4exvr16ye8Sh7PVa5oYjqdDlarFVarFUVFRcq+JocPH0ZfXx/q6uoQDAaVnc0zMzNht9tTNnio/f3I4EFEs8WgQUSQJAmBQCAqQ6XGilbhf/jwYdTW1iI7OxurVq2adOJxLIJGrIsltRei09HpdMjIyIDJZEJrays2bdoUNsejvb0dQoiwFa3sdntKFampdi4zCR6SJCEtLQ1ms5nBg0ijGDSINEwIoawqJQ/viHYhMNfJ4JIkobm5Ge3t7Vi2bBmKioqmbGOsejRiUSBptejS6XSw2Wyw2WwoLi6GEAKDg4NK8NizZw8AhAUPm82m2udLC0FyouBRV1eHrKwsFBYWsseDSKMYNIg0auyE71h96c+l8Pd6vaipqYEkSdi0aRNsNltMj5coamvvXI19n+l0OtjtdtjtdpSUlEAIgYGBAXg8HvT09GD37t3Q6/VhwSMjI0NVRaqa2jpX8meJEEIJFRxqRaRNDBpEGiT3YgSDwagOk5rIbAv/gwcPYteuXSgsLMTSpUtnvFSqmoIGi6qJ6XQ6OBwOOBwOlJaWQpIkJXh0d3ejpaUFBoMBmZmZSvCwWq1J+3yqbTJ4tIT2ks50jofJZILBYGDwIEoRDBpEGhKtvTEiEWnhHwwG0djYiM7OTqxYsULZtyFWx0sGamtvvOn1ejidTjidTpSVlUGSJPT398Pj8eDQoUNobm6G0WgMCx4WiyUpilQtv7aTBSwGDyLtYNAg0gh5ydFdu3ahoqICRqMxLl/akczRGBgYQE1NDYxGI6qqqmCxWCI+npqCBoum2ZGHUblcLixYsADBYFAJHp2dnXC73UhLSxsXPBJJi6/1THtyGDyIUheDBpEGyMvWBgIBdHZ2oqKiIm5f0DMp/IUQ2LdvHxobG1FaWopFixbNeqlTNQUNmdram2xCh1EBR9/vfX198Hg82L9/PxobG2E2m5XbZGZmwmw2x6VtWn5t5WWyI8XgQZQ6GDSIUpj85RwIBABAmecwl1WgIjVd4e/3+1FXV4eenh6sWrUKOTk5MT1eMmFRFBsGgwFZWVnIysoCAAQCASV4dHR0oL6+HhaLRentiEfw0OJrHa25KbMNHqm6LwuRmjBoEKUoecK3HCrkL2IgvldZpyr8e3t7UVNTg4yMDFRVVUWl2FNT0JCprb1qYzQakZ2djezsbABHg0dvby88Hg/a29tRX18Pq9UaNtQqLS0tKseWX1sGjehh8CBSDwYNohQTujfGZBO+E92jIYTAnj170NLSgkWLFqGsrCzpNgiMBy0Wn8nAaDQiJydH6T3z+/1K8Ghra8PQ0BAyMjLCgofJZJrVsdTyXoyFeK22xeBBlLwYNIhSyNi9MSYKGXq9Pu49GqHBZnR0FDt37sTQ0BDWrVsHl8sV9eNpubijyJlMJuTm5iI3NxcA4PP5lODR2toKr9cLm80WFjwm25l+MloMlZIkJeS8GTyIkgeDBlGKmOneGGML/1jT6/VK8Dly5Ahqa2uRmZmJysrKWV8lno5agob8GqmlvVqRlpaGefPmYd68eQCOhmM5eDQ3N2NkZCQseDidzkmDh5Zf22TZP4TBgyhxGDSIVC7SvTES1aPR1NSEvXv34phjjsH8+fNjVoCosTjQSjGq1vM0m83Iy8tDXl4egKPBw+PxwOPxwO12Y3R0FHa7PSx4jN1gMhkK7nhLlqAxFoMHUfwwaBCp2EyGSo0V7x6NQCCArq4upKWlYePGjbDb7TE/ZizOL1ZDspKxEKOpmc1m5OfnK5tJDg8PKz0eDQ0N8Pl8cDgcyMzMhM1mS3BrE2e2y9vG23TBAzj62Wo0GmE0Ghk8iCLAoEGkUvLeGJHu8B3PHo1Dhw5h3759SE9Px6ZNm8Zd5Y0FNRbuar3ST0dZLBZYLBYUFBQoG2PKwePAgQMAgJqaGqXHw+FwaKJITdYejelMFjz8fj98Ph8ABg+imWLQIFKZsXtjRBIygPj0aASDQbjdbhw4cEAZbhKPkAHEv8dmrtRYiNHkdDodrFYrrFYrCgsLMTIygu3bt2PevHno7e3Fvn37EAwG4XQ6leBht9tTskhVa9AYi8GDaPYYNIhUZOzeGLP5Iot1j8bg4CBqamqg1+tRWVmJQ4cOoa+vL2bHGysVChtKPUVFRZg/fz6EEPB6vcocj46ODkiSNC54pML7OFWCxlgzCR5DQ0NIT0+H3W5n8CBNY9AgUoFIJ3xPJVZX/IUQ2L9/PxoaGlBSUoLFixcr7UyWDQKTkdraS7Mj/73qdDpkZGQgIyNDCR5DQ0NK8Ni7dy+EEMqO5fI8DzUW7KkaNMaaKHh0dHQoIQNgjwdpF4MGUZKbzYTvqcSiRyMQCKC+vh6HDx/GypUrlf0IgPgX0izcKZlMV2zrdDrYbDbYbDYUFxdDCIHBwUEleLS1tUGn04UFj4yMjKQv4OWr/MnezliQP4OMRiNMJhOHWpGmMWgQJTFJkuDz+ebcixEq2j0afX19qKmpgcViQWVlJdLT08cdj0FjcmprL8WWTqeD3W6H3W5HSUkJJElSgseRI0ewe/du6PX6sOBhtVqTrqCX39PJ1q54kT+zAc7xIG1j0CBKQvJQKb/frywRGa0v7Gj1aAghsHfvXjQ3N6O8vBzl5eUTtlGv18d1cjYLd0omc72qr9fr4XA44HA4UFpaCkmSMDAwAI/Hg+7ubrS0tMBoNIYFD4vFkvACX/4b1GqxPNWu6AwepCUMGkRJRpIkBAKBqA2VGisaPRo+nw87d+7EwMAA1q5di8zMzCmPxx6NyamtvRSZaL+2er0eTqcTTqcTZWVlkCQJfX196O3txaFDh9DU1IS0tLRxwSPetN6jEckeIgwelMoYNIiShBBCWVVKvgoaiy/pufZo9PT0oKamBi6XC1VVVTCZTFPenkGDtC6WxbZer1cCxYIFCxAMBpXg0dnZCbfbDbPZHBY8xg5vjAWtB43QoVORYvCgVMKgQZQExk74jlXIkB97Nj0aQgi0traira0NS5cuRXFx8YzaGO99LdQYNNTW3rnSUvEZ79fWYDAgKysLWVlZAI7uadPb24ve3l7s378fjY2NSE9PDwseZrM56u1g0Jh86FSkGDxIzRg0iBJM7sUIBoNRHyY1kdn0aIyMjKCmpgY+nw8bNmyAw+GI6fHmIpZBIxar6Gi1ENOSRL7GBoMB2dnZyM7OBnB0hTg5eHR0dKC+vh5WqxWZmZlK+EhLS5vzcbUeNCIZOhUpBg9SEwYNogSJ5t4YkYi0EO/q6sLOnTsxb948rFmzBkZjZB8bHDo1PbW1l2Yu2ZZ4NRqNyMnJQU5ODgDA7/crwWPv3r2oq6tDRkZGWPCYbnjkRORezGQ693iay9CpSE0XPOTfM3hQIjBoECWA/CVQW1sLl8uF+fPnx+0LeaarQEmSBLfbjX379mH58uUoLCyc1fEYNKam1UKMkoPJZEJubq6y943f74fH40Fvby/a2tqwa9cu2Gw2JXi4XK4ZBY9kC1jxFs+gMdZEwUPuOWfwoHhj0CCKM3nZ2tDVpeL5hTyTORNDQ0OoqakBAFRWViIjI2NOx2PQmJra2kszp7aC22QyYd68eZg3bx6AoyvMycGjtbUVXq8Xdrs9LHhM1MuptvOOtmjO0ZgrnU6n7FAOhAcPv9+v3IbBg2KBQYMoToQQCAQCCAQCyvjdeO8xAUxfiB84cAB1dXWYP38+li5dOucvGwaNqSVLMUKxoab34kTS0tKQl5eHvLw8AMDo6Kiya3lzczNGRkbGBQ+DwRDTOQpqkMznz+BB8cSgQRQH8oe4HCrk+RiJCBqTHTMQCKChoQFdXV04/vjjlSuasTperKgtaADqL0ZpaqkUJs1mM/Lz85Gfnw/g6EIRcvBwu90YHR2Fw+GA1WpV5qGFFrVakUw9GtNh8KBYYtAgiqHp9sZIlh6N/v5+1NTUIC0tDVVVVVFdZz8Rhb+aCne1FCM0O2p6L85Geno6CgoKUFBQAAAYHh6Gx+NBV1cXgsEgPvzwQzgcDqXHw+l0pnyBKk/GVut5MnhQNDFoEMXITPbGiPceE8DRcCO3SQiB9vZ2NDU1YcGCBVi4cGFMlm/l0Kmpqa29NHNam6tgsVhgsViQkZGBwcFBrF69Wunx2L9/PwKBAJxOp7KHh91uT7kCVf57TpXzYvCguWDQIIqBme6NEe89JuRjyquP7Nq1C319fVizZo2ywVe0JSJoRDu8xXoDRUptWnyN5VWXrFYrrFYrioqKIISA1+tVgkdHRwckSQoLHjabTfUFaugQ2VQ0k+AxNDQEs9kMu93O4KFxDBpEURTp3hhy0R9POp0Ow8PD2L59O+x2O6qqqqKyQddUx4v3HA21YY9G6tLqaztRT45Op0NGRgYyMjIwf/58CCEwNDSkBI+9e/dCCBG2a7nNZlPd37TW9hCZKHjs3bsXTqdTWZGMPR7axaBBFCVjh0rNZAO+eM/REELA4/Ggp6cHS5cuRWlpaVLuRD4XiRiONhdaKUYA7RbdWnqNZTMZMqbT6WCz2WCz2VBcXAwhBAYHB5Xg0dbWBp1OFxY8MjIykv75TLWhU5GSP4PlYMGhVtrGoEEUBaF7Y0Syw3c8i+KRkRHU1tZiYGAAWVlZKCsri8txEzF0Sm20WoBrgdbmaMhmMxlap9PBbrfDbrejpKQEkiQpwePIkSPYvXs39Hp9WPCwWq1J9/zKK04lW7viKXTDQs7x0DYGDaI5CN0bA5hZL0aoeF3t7+7uxs6dO5GTk4Ps7Gz09fXF/JgyOWjEq+BS22RwLRcjlLqi8feu1+vhcDjgcDhQWloKSZIwMDAAj8eD7u5utLS0wGg0hgUPi8WS8L8pNS1tGyuSJE26rDGDh7YwaBDN0kR7Y0Qq1kOnJElCU1MTOjo6UFFRgaKiIrS3t6d0D0OsgkYsz0NNwYgio+UejWift16vh9PphNPpRFlZGSRJQn9/PzweDw4dOoTm5mYYjUYldGRmZiI9PT3uz3/o1XytiuQ5YPBIbQwaRBGKdML3VGIZNLxeL2pqaiBJEjZt2gSbzQYg/nMY5C8D9mhMTItFqJao6b0YTfG4qi8Po3K5XFiwYAGCwaASPDo7O+F2u5GWljYueMSamvfQiBZ5xcXZYPBILQwaRBGYzYTvqcSq6O/s7ERdXR0KCwuxdOnSsA/tREzOBuJ3lS9WQUOrBWMsaC1cae18gcT05BgMBiVQAEeL3b6+PmUPj8bGRpjN5rDgYTabo94ODp2K7uf9VMHD5/Mp82FCg4fRaNT8a5AsGDSIZkiSJPh8vjn3YoSKdtEfDAbR0NCAQ4cO4dhjj0VeXt642yRqudl4Fepq7NFQU3spMlp9bZNhyJjBYEBWVpayR1AgEFCCR0dHB+rr62G1WsPmeERjqW8OnZp6jsZcMXioC4MG0TTkoVJ+v1/pEo/WB1Y0h04NDAygpqYGJpMJlZWVsFgskx4zET0aDBqkVVoscJIhaIxlNBqRnZ2N7OxsAIDf71eCx969e1FXV4eMjAwleLhcrlkFDw6dim/YYvBIbgwaRFOQJAmBQCBqQ6XGikbQEEKgo6MDbrcbZWVlWLhw4ZQf8PHeuyN06FS8jqemoKG29lJktPraqqHYNplMyMnJQU5ODoCjwaO3t1fZw2NoaAg2my0seJhMpmkfV+s9GvLFuUQ9BwweyYVBg2gCoR9M8pW5WHwIzbXo9/v92LVrF3p7e7F69WrlSt1UErWvBXs0Jqe29tLMJeOV/XhQ43mbTCbk5uYiNzcXAODz+ZTg0draCq/XC7vdHhY85J2vQ2l9job8eRaroVORmmnweOGFF7Bw4UKceuqpCWxt6mHQIBpj7N4Ysdx4aS5FcW9vL6qrq2Gz2VBVVTXjLv5EzNGIZ/GvxqBBqU2LRacag8ZYaWlpmDdvHubNmwcAGB0dhcfjQW9vL5qbmzEyMjIueBgMBs33aMxlyfd4mCx4/OEPf8App5zCoBFlDBpEIeSrHMFgEDqdLuYflLPp0RBCoK2tDa2trVi0aBHKysqScpPAUAwak1NbeykyWn1tUyFojGU2m5Gfn4/8/HwAwMjIiBI83G43RkdH4XA4YDQaEQwGEQwGk+aqfjwle9AYSw4ew8PDsFqtiW5OymHQIEJ098aIRKRBY3R0FLW1tfB6vVi/fj2cTmfEx4x3j4Z8TLUHjVQrmih+tPje0cLwofT0dBQUFKCgoAAAMDw8rCylOzQ0hA8++ABOp1Pp8XA6naopvudCntOottff6/UiIyMj0c1IOQwapHny3hhffvklysvL4XA44vYBGUnQOHz4MGpra5GVlYWqqqoJxwbP9Jjxvsoaz2PGKmj4fD4Eg8Gor7uvti9jigx7NLTDYrHAYrEgEAigt7cXixYtUno8Dhw4gEAgEBY8HA5HSgYPeWlbtb3+7NGIDQYN0jR52VpJktDf349AIBDXD8eZFMWSJKG5uRnt7e1YtmwZioqKknKTwGQ5ZiyCxsGDB7Fz504Eg0HYbDZkZWWFjcmeK60Wo1qgxYIb0O55A0fP3WAwwGq1wmq1oqioCEIIeL1eJXjs27cPwWBQ2dk8MzMTdrs9JYKHGueoCCEwPDzMHo0YYNAgTQqd8C0vwxjvZV+B6Xs0vF4vamtrEQgEsGnTJthstqgcM5XnaADRK9wlSYLb7cb+/fuxfPly2Gw2ZRWa0DHZcvCYzRVKrRZjWqLF11jLQWOiYWM6nQ4ZGRnIyMjA/PnzIYTA0NCQEjza29shhAibWG6321X5HCZyadu5GBoaYtCIAQYN0hx5wnfohDV5MlgigoYQYsIv5YMHD2LXrl0oKCjAMcccE7VJhak+RyNaX3DDw8Oorq6GEAKVlZUwm83w+/1hk0GHh4fR09MDj8eDffv2QZKksF2GbTbbtIWCliaDa+U8Q2nxnAF17KMRKzO5oq/T6WCz2WCz2VBcXAwhBAYHB5XgsWfPHgAICx4z+TxJBmrs0QCOfp5PttEtzR6DBmnGdHtjJKIAlz+M5TGtwNGrQY2Njejs7MSKFSuUojaax5ws3MRKvJ/buR6rq6sLO3fuRH5+vhLy5AmOoSwWC4qKipShEXKhIG/4pdfrldCRlZXFLzGNUkNxGG1aDhqzOXedTge73Q673Y6SkhIIITAwMACPx4Oenh7s3r0ber0+LHhkZGQk5Xsr9PtMTYaHh6MyaoDCMWiQJsgTvkNXwxj7AZ2ooVPA/30wDw4Oorq6GgaDAZWVlTGZmBa6gV48g0Y8J4PPVuh8mOXLl6OwsDCi44YWCvK8H4/Hg4MHD6KpqQlmszkseMh7n2j1qrcWaPW11frQqbmGLJ1OB4fDAYfDgdLSUkiSpASP7u5utLS0wGAwKJ8nLpcLVqs1KZ5zNfZoBINBjI6OcjJ4DDBoUMoL3RtjqmVrEzF0Sm6LJEnYt28fGhoaUFJSgsWLF8fsg1p+3HgWQGpYdWpkZAQ1NTXw+/0TzoeRe4FmSr766HK5sGDBAgSDQWV+R3t7O+rr65GRkaGsZBUIBGa9khglt2Qo/uJNC8vbTiYWV/T1ej2cTiecTifKysrCLmQcOnQIzc3NMBqNYcHDYrEk5DVQ4xyNoaEhAOAcjRjgtxqlrEj3xkhkj0ZdXR16e3uxatUq5OTkxPSYoeEmXt3byb6PxpEjR1BTU4OcnBysWbMmJgW/wWBAdnY2srOzAQB+vx8ejwctLS3o7u5GZ2cn7Ha7MrFcK2vupzqtXtnX6nkD8bmiP9GFDDl4dHZ2wu12Iy0tbVzwiAc19mgMDw8DAIdOxQCDBqWksUOlZrIBXyKCRn9/P4CjezRUVVVFfY+GiSSiRyNZg4YQAq2trWhra8MxxxyD+fPnx604MplMmDdvHg4dOgSXy4Xc3FxlYnnomvty8FDrCjSkTVoOGok499BhVMDRXoW+vj5lA8HGxsawoZuZmZkx+75R4xwNr9cLo9EIk8mU6KakHAYNSjmhe2NEssN3PIOGEAJ79uxBS0sLdDodli9fHpeQAYT3aMRLMgYNn8+HmpoaDA8PY8OGDXA4HHFo3cSEEEhPT0dhYSEKCwuVNffl4LFnzx7odLqwIiFZxmPT1LRacGv1vIHkuKJvMBiQlZWFrKwsAEAgEFCChzxMNz09PazHI1rfQWocOuX1ehM21CzVMWhQygjdGwOYWS9GqHgFDZ/Ph507d2JgYABr167Fl19+GfNjhgqdDB4v8QxxMwkaHo8H1dXVcLlcqKysTOjciIneo6Fr7hcXF084EdRkMoVNLI9XUKXIaHkyuNqKzWhJxnM3Go1hQzfl3cvlOWN1dXWwWq1hwUNerCJSyRC0IsU9NGKHQYNSwti9MSZaVWo68SiGjxw5gtraWrhcLlRVVcFkMsV96Vf5udFij0ZoT9KSJUtQUlKSFFewpntuxk4EDR0WIV+dlIuErKwsuFwuDgFIIsnwHos39mgkd6FtNBqRk5OjzAn0+/1K8Ghra1MK79DgMdPPFDUOneIeGrHDoEGqFro3RqRDpcaKZdCQJAmtra3Ys2cPli5diuLiYqWdiZqErrU5Gn6/Hzt37kR/fz/WrVsHl8sVl/ZMZzbv19BhEQsXLgwrElpbW+H1esdNLFfbF3+q0HKPhpaDhtrO3WQyITc3F7m5uQCO9rzLnym7d+/G0NAQbDZbWPCYrCdYDUFrLA6dih0GDVKt2Uz4noper4ff749W8xTDw8Oora2Fz+fDxo0bYbfbxx03lXfqjvfxJjpWX18fqqurYbPZUFlZOeshAbEy1+dmbJEwOjqqzO9oaGiA3++Hw+EIm1ieqEJAa1/kWi241VhsR4saC+2x0tLSMG/ePMybNw/A0eAhb0ba0tKibG4nBw+n06kEj2AwqLqlur1eL4dOxYi63glE/58kSfD5fHPuxQgVi4L/0KFD2LVrF/Ly8iZdNjVRPRrxHjqViDkaQgi0t7ejqakJCxcuxIIFC2b9XolV0RSLxzWbzSgoKEBBQQGEEBgeHlaCR3t7O4QQYRPLk3WH4VShxedWqwELSM45GnOVlpaGvLw85OXlATh6MUMOHm63G6Ojo7Db7cjMzMTw8LDq5ox5vV5u1hcjDBqkKvLeGH6/X/kwj9aXWTSL72AwCLfbjQMHDmD58uUoKCiY9Lbx7l2QjxnPoJGIDfsCgQB27doFj8eDNWvWKKuvJKNYPjc6nQ5WqxVWqxXz58+HEEKZWH7kyBG0traGbfSVlZWF9PT0mLVHazh0Snu00JtjNpuRn5+P/Px8AEd77uWhVv39/cr/lz9XHA5HUg/f5ByN2GHQINWQJAmBQCBqQ6XGilbQGBwcRE1NDfR6PSorK6e9SsI5GtE/liRJ2L59OywWCyorK5P66lq8CxKdTgeHwwGHw4HS0lJIkqRMLD9w4ADcbrey7KU8sTzZhpqpTaoXnRPRetBItR6N6VgsFlgsFhQUFMDn88HpdMJsNoftC+RwOMKCRzI9R1x1KnYYNCjphU74lr+8YvEFFo2Cf//+/aivr0dxcTGWLFkyow/SRM3RSNVVpw4ePAgAKCgowKJFi1RR7CTyqrder1e+/MvLy8OWvZRXn7HZbMr8DpfLldRXJpONVgvuVBw+NFNaPnfgaNBKT09HQUGBsi/Q8PCwMtRq3759CAaDcDqdymdPIueNAUd7NDh0KjYYNCipjd0bI1YhA5hbwR8IBFBfX4/u7m6sXLlSmZQb6+POVir2aASDQdTX16OrqwsAoh4y1DRHYy7GLnvp8/mU+R3yWOzQieXJdmWSkoNWAxagzR6NUGPPP3T4ZlFRkbIhqRw8Ojo6IEnSuOARz/cPJ4PHDoMGJS25FyMYDEKn08X8g1uv1yvDsiLR39+P6upqpKeno6qqKuLx7fHuXZCPmUob9g0ODqK6uhomkwlr167FJ598EpNCJ1ZffMk8jj8tLW3cWGw5eOzbtw+SJMHlcikFgs1m02yBORGtFtxaPW9AG3M0pjLdPhqhG5LK88aGhoaU4LF3714IIeL6ueL1euF0OmP2+FrGoEFJR57wHQgEorqq1HQiLYaFENi7dy+am5tRXl6O8vLyWbUz3r0L8jFTZehUZ2cndu3ahZKSEixevFjp/Urm4j2U2goSi8WCoqIi5crk4OCgUiC0tbWFDcXKysrS/ARLrRbcWj1vgEOnIu3R0el0sNlssNlsKC4unvBzRafThQWPaK+UNzw8POWiLTR7DBqUVIQQ6O/vhxACZrM5biEDiKz49vl82LlzJwYGBrB27VpkZmbG5bjRkgpzNILBIBobG3Hw4EEcf/zxynrvMrUEDTXT6XSw2+2w2+0oKSmBJEno7++Hx+PBwYMH0dTUBLPZrBQHWg0dWiy4tXxVX+tDp4LB4JzOf6LPFTl4HDlyBLt374Zerw8LHlardU7vN87RiB0GDUoa8rK1jY2NsNvtWLhwYVyPbzAYZlR89/T0oLa2Fg6HIyqbv3HDvsh5vV5UV1dDp9Nh06ZNYV8QavuCT8TyxrEif/m7XC4sWLAAwWBQmVje3t6OwcFBAEBzc/O0uwunilR5bSOl1R4NIQR7NKIctPR6/biV8uQluru7u9HS0gKj0RgWPCLd5ZtzNGIntT/hSRVCJ3wLIWAwGBLy5TxdwS+EQGtrK9ra2rBkyRKUlJRE5Ys0EXM0EjEZPFrneOjQIezcuROFhYU45phjJv1Ci/dzSuMZDAZkZ2cjOzsbwNH5TJ9/dFRtXQAAIABJREFU/jmCwSCam5sxMjICu92uTCx3Op0pWaBpteDW4nnLnztaPHfZdHM05kqv18PpdMLpdKKsrExZoru3txeHDh1CU1MT0tLSxgWPqXi9Xs32uMYagwYl1ER7YxgMhllNyp6rqYLGyMgIamtrMTIygg0bNsDhcET1uJyjMT1JktDU1ISOjg6sWLFi0vG0avuCT6UejekYjUbodDocc8wxAI7+XckTy+W19kOLg3ivPBMLWi24tXzegPp6VqMp3kPHQueFyT2pcvDo7OyE2+2G2WwO+2wZu2jL8PAwbDZb3NqsJdr9S6CEkid8+3y+sFWl5P9NxNXoyY7b1dWFjz/+GOnp6aisrIxqyJjquLGktp3Bh4eH8dlnn+HIkSOorKycdqd1QLtDVtQkPT0dhYWFWL58OaqqqrB27VpkZ2ejr68PX331FT788EPs3LkT+/btg9frVeVrqsY2R4NWhw9pvUdDkqSEv/YGgwFZWVkoLy/HmjVrcMIJJ2Dp0qUwm83Yv38/PvnkE2zfvh1XXnklnn76aezduzdqPRp//OMfsWHDBlgsFuTk5OCss84K+317eztOP/10ZGRkICcnB9dffz18Pl/YbXbu3InNmzcrC2/cddddqv4cYY8GxZ0QQlm2Fhi/N4Zer4ff7497u8YW/JIkwe12Y9++fVi+fDkKCwtjdtx49+CoaR+N7u5u1NbWIi8vD8uWLZu2S16NQUNNbY2VsSvPhI7D7urqQktLC0wmU9iKVsm843soLRadWu3RkL9DtBiygOQ8/7FDOAOBADo7O2E2m/HUU0/h5ptvRmZmJn7961/D5/PhxBNPHLe4yEy88soruOqqq3Dvvffi61//OoQQ2Llzp/L7YDCIf/zHf0Rubi4++ugjHDlyBJdeeimEEHjiiScAHB1eeuqpp+Kkk07Cjh070NTUhMsuuwwZGRm48cYbo/OExBmDBsVV6N4Yk60oZTAYMDIyEve2yUFD3kyopqYGAFBZWRnTSWKJ2kcj2YdOCSHQ0tKCPXv2oKKiAkVFRTM+lnx/NdDS0KlIjB2HLQ+HkPfvaGhogNVqVUKHy+WCyWRKdLPH0eprq9WgIZ+3Fs8d+L+gEcs5GnNlNBpRXFyMX/7ylwCOXsz6+te/DqvVinvvvRcXXHABli1bhpNOOgknnngiTjzxRCWkTCYQCOCGG27Agw8+iCuuuEL5+dKlS5X///bbb6O+vh4dHR3KhcuHH34Yl112Ge655x44HA48//zzGBkZwTPPPAOz2YwVK1agqakJv/jFL/DDH/5Qle+r5ImclNLkCd/yUKmplq1N5NApADhw4AC2b9+OzMxMbNy4MeYrUSRijkayb9g3OjqKHTt24ODBg9i4ceOMQ4ZMbcW7mtqaKPJwiIULF2LdunX42te+pqxM19raig8//BA7duxAa2srenp6EjLPazJqLA7mSqtBg0vb/t9IBbXIyclBT08Pbr31VlRXV6Orqwt33XUXAOCOO+7AQw89NO1jfPnll9i/fz/0ej1WrVqFgoICfPOb30RdXZ1ym08++QQrVqwIGx2xZcsWjI6O4osvvlBus3nz5rDe2i1btuDAgQPYs2dPlM44vtijQTE3dqjUdHtjJCpoyMVeY2PjhPsyxEoizjeZh04dOXIEtbW1yMrKwurVq2e1/KmagoaavpCTiclkQm5uLnJzcwEcDafyxPKGhgb4/X44HA5lRSu73Z6QAlAt78Nokpd41eJ7W8v7hwD/F7TU9hyE7qORnZ2Ns846S5lfMZPv5927dwMAtm7dil/84hcoKyvDww8/jM2bN6OpqQlZWVk4ePAg8vLywu6XmZmJtLQ0HDx4EABw8OBBlJWVhd1Gvs/BgwexYMGCOZ1nIjBoUEzJe2NE8uGTiFWnBgYGUF1dDQBYt25d1Cd8TyVRQSPZhk4JIbB7927s3r0bS5cuRXFx8ay/rNQUNABtFqPRZjabUVBQgIKCAgghMDw8rASP9vZ2CCGU+R2x2Fl4MlosuOX3s9bOG9DuJHhZrJe2jQWfz4dAIDDhqlNbt27FnXfeOeX9d+zYoXyf/vSnP8XZZ58NANi2bRvmz5+P3//+97jmmmsATPw3MfYzYuxt1P73xKBBMRG6NwYwfS9GqHgWwUIIdHR0wO12o6ysDK2trXPegC9SWlh1arrC3+fzoba2FkNDQ1i/fj2cTmdMj5dM1Prlkcx0Oh2sViusVivmz58PIYQysfzIkSNobW2F0WgMm1g+drnLaLdHS9ReGM2F1odOqfH8h4aGAGDCncG/973v4fzzz5/y/mVlZRgYGAAAVFRUKD83m80oLy9He3s7ACA/Px+ffvpp2H09Hg/8fr/Sa5Gfn6/0bsi6uroAYFxviFowaFDUyRO+Q5f5i+QLJ16Ft9/vx65du9Db24vVq1cjOzsbu3fvTvlduuVjJkvQ8Hg8qKmpgdPpRGVlZVQm9KopaADs0Yg1nU43bmdheWL5gQMH4Ha7kZ6eroSOzMzMqE0s1+Jrq+W9JLQ+dEqeg6kmw8PDADDhfMycnBzk5ORM+xhr1qyB2WyG2+3GP/zDPwA4WmPs2bMHpaWlAIBNmzbhnnvuQWdnp7JE+9tvvw2z2Yw1a9Yot/nJT34Cn8+nXPR8++23UVhYOG5IlVowaFDUCCHCQsZsx2nGY+iUXNza7XZUVVUpf9BaGMYkHzOew9MmCjZCCOzduxdNTU1YsmQJSktLo/YFraagoeWiJFFCN/gqLy9HIBBAb28vPB4P2trasGvXLthsNiV0uFyuOQ0H0dprzB4NdRXa0aTG8/d6vTCbzXP6G3c4HLj22mtxxx13oLi4GKWlpXjwwQcBAOeccw4A4LTTTkNFRQW+853v4MEHH0RPTw9uuukmXHXVVcpw7QsvvBB33nknLrvsMvzkJz9Bc3Mz7r33Xtx+++2q/Xti0KCoiHTC91RiWXiHzgNYvHjxuOJWK0Ej0Rv2yb1JfX19WLduHTIzM6N6PDUFDUBbV72T8cvSaDSGXbn0+XzK/A63243R0VE4nU4lnDgcjhkXU1p6bWVaDhqco6G+ORryZn1zfb8++OCDMBqN+M53voPh4WFs2LABf/3rX5XvN4PBgD/+8Y+47rrrUFVVBYvFggsvvDBsVSun04l33nkH3/3ud7F27VpkZmbihz/8IX74wx/OqW2JxKBBcyZJEnw+X9RWm4hV4T06Oora2loMDw9POg8gUZvnaWnVqb6+PlRXVyMjIwOVlZUxmROjpqChxWIs2aWlpSE/Px/5+fkAEDaxfN++fZAkCS6XSwkeNpttytdRa6+xloMGh06pb+iU1+udcH5GpEwmEx566KEpl8MtKSnBm2++OeXjHHvssfjggw/m3J5kwaBBsyaEUFaVkq/iROMDNhZDp7q7u7Fz505kZ2dj1apVky6ZqoXehUQcUz5ee3s73G43ysvLUV5eHrMvZDUFDUCbV73VxGKxoKioCEVFRRBCYHBwEB6PRxlqFToUKysrCxaLRbmvFledCp2fpzVqHDoUTWo8/2gFDZoYgwbNSjSHSo0VzWJfkiQ0Nzejvb0dy5YtQ1FRUdLt4ZGIDfvifUxJkuD1etHS0qJMvI8lNQUNLRZjaqbT6WC322G321FSUgJJktDf3w+Px4ODBw+iqakJZrNZCR7JtHFgvGgxXMk4dEqdQSMaQ6doYgwaFJHQCd/yl0m0/zijVex7vV7U1NRAkiRs2rRpwjWyxzIYDJyjEWUDAwNoamr6f+ydeXhjZ33vP+dI8qrF++4Z27N5xjPJ7DP2ZBKSkAItW1lalkIoFFpaKG3oLRfKhXSBtpell8Lt097SFgppSxICpA00hD2T2TPj3eN9323JmyRb0jnn/uHoxJ7xIsvSkY7P+TwPzxPGkt731Tl6z+/7/jYUReHcuXOrOp7GE70IDdDXXE1WI4oiWVlZZGVlUVlZiSRJamL5wMAACwsL+P1+fD6fmlgeTRNKPWFkoaFHQzuW6DFHw+/3r1lxyiQ27OzdziSm3N4bIx4iA5aN/bCgiXbDHhsbo7m5mZKSEg4cOBDxxpeIMKad7EUZHh6mtbWVgoICZmdnNRMZifASRYtRDbKdisViITc3V/Xavfjii2RmZiJJEp2dnSwuLuJwONSKVi6Xa8cZpkY+1TdzNPSXo+H1eleFO5rEFlNomERE2IshSRKCIMR1Iwl/djRCQ5Ik2traGB8f58iRI1tucLPTvQtajbnyOhw9ehRRFJmdnY3beGuhF6EB+pqrydYQRRGXy6XWzV9cXFQTy0dGRgiFQqsSyx0Oh+4NVdOjoS9DO5bocf1+v9/M0YgjptAw2ZBwwncoFIpZVanNCHsftmoIz8/P09DQgNVqpa6uLqoTikSFTu2kHA2v10t9fT0Wi0W9Dm63W/MqV3pBT3M12Tq33/dpaWmUlJRQUlKCoih4vV41sbyvrw9BEO5ILNfbPWJkoWFkbw7oU2j4fD4zdCqOmELDZF3imfC9EeExIk2iVBSFoaEhbt26xe7du9m7d2/UG53ZR2N7hEPWysrK2L9/v3odElXlSi+YHo2dy0ZGtyAI2O127HY75eXlyLLM/Pw8Ho+HiYkJurq6sNlsq4SHVuGH28HIQsPooVOyLMelZHk8MatOxRdTaJisSSgUwu12k5GRgdVq1XTjDIdmRWIoBoNBWlpa8Hg8MalmlEihoeXDOdYeDVmWuXXrFiMjI2uGrCWib4dePtfIRolRiPQah8OsXC4XFRUVSJLE7Oys2r+jra2NjIyMVR3LbTZbnGe/dYxsbOvxRD+W6DFHw+/3mzkaccQUGiarCCd8BwIBLl26xCte8YqEPMgiCWGamZmhoaFBbfwWi5O+RHkXQNtTwFie+IereymKQl1d3ZonQ1qXm43XeEZuRGYSHdu5Dy0WCzk5OeTk5LBnzx6CwSAzMzO43W66u7vx+Xx3JJYnQ8UfI3s0zNAp/Qktr9dLXl5eoqexYzGFhomKLMuEQiH1RCKR4ScbdehWFIW+vj66urrYu3cvFRUVSdnDYytjgrbhM7HyMExMTNDU1ERRURHV1dXrGjk7RWjEAz3NdbsYZZ23E6v9yWazkZ+fT35+PgBLS0tqYnlbWxvBYBCXy7UqsTwRRp+RhYYey7vGEj2u3yxvG19MoWGybm+MeHTojpT1DP6lpSWamprwer2cOnWKrKwsTcaNJyurbGm1QW9XRK5shFhTU0NJScmm45lCw8SIxNPoTk1Npbi4mOLiYhRFwe/3q8JjYGAARVFW5XdkZGRoIgCMLjT0dqIfS8zQKZPbMYWGwbk94Xtlb4xECo21xp6amqKpqYns7Gzq6urWDulSFFiaQ/BNg28a5BAIAggiiDaUjFzIzAfb2ptKooWGlmNGa4gvLi7S0NBAMBiMuBGi1t+rnoSGnuZqkrwIgkBGRgYZGRmUlZWhKIqaWD41NUV3dzdWq3WV8EhLS4vLXIwcPmTktYM+hZZZdSq+mELDwKzsjbFWRalEGN1rjS3LMl1dXfT391NdXU1ZWdnyXJcWEAcvIYzWI0y1I0zeQvD0IsjBTT9fSbGjuMpR8g+i5Fej5Fcjl5xAFEWCwc3fH0vC37seqjJNTU3R2NhIXl4eJ0+e3FIjRNOjsT56mqvJ1kjU6b4gCDidTpxOJ7t370aWZTWxfGRkhPb2dtLS0tT8juzs7Jjl45keDX0Z2rFEj+s3+2jEF1NoGJBIe2MkQ+iU3++noaGBUCjE2bNncYSmsFz8G8SenyKMvIggh9Z8v5Jih/QcFEsKoIAiI0gB8E4hSEsIgQWEyTaYbFv1vn2OCuZy7kIUX49cdT+kOuK+1rAXKZlzNBRFoauri76+Pg4ePEhZWdmWxtM64V1vQsNk55Is96EoiqqgqKqqIhQKqYnlvb29NDc3Y7fbV1W0ijaU0+hCw6hrB33maPh8vog88ybRYQoNg7GV3hgbJWTHG4vFgtvtpqWlhZKCHA6FOrB9968Rh66sep2StRu5/CxK/kHk/GqU3H3LoVHWdUICFAWW5hG8E8vej8m2ZU/IRAviZBtp832kzfdB/9MollTkylcgV78Wed+rIc0Vt/UmIrQo0vGWlpZobGzE7/cviz3H1sXXThAaeiqZa5JcJOM1tlqt5OXlqdV2AoGAmt/R3t7O0tLSqsRyp9MZ8Um1kY1tPZ7oxxI95mj4fD4zRyOOmELDQEiSRDAYjLjDdyK6ZMPyPL1eL/NTw9RZWsj66WMIvikAFEFEqbgX6cBrkSvuheyKrX24IECaEyXNiZK7F/Y+9PLffG6mbjyNOHCRwvkmRHc3lq5nsXQ9uyw6ql+LdOxhlLIzy58TQ7QWGpF6NNxuNw0NDWRnZ3Ps2DGs1ui2jJVCQwvi5dGIl/GULKfeJrFHL9c2JSWFoqIiioqK1MTycMfyoaEhZFkmKytLFR52u33d34ORPRpGXjvoT2iF73UzRyN+mELDAIR7Y4RCy2FGkXb4TkTo1MLCAo03X2TX0PfYP/Y9LMEFABTXLqTjDyPVvAUcxfEZPCMH364HmEw/Qs7x4whTtxBv/Rfirf9EnLqFpeXbWFq+jZy7D+n4byLf/Q6wxSauM9k8Goqi0NvbS3d3N/v372fXrl3benhqXVlLT6FTRjZKjILervHKxPLS0lIURWFhYUEVHr29vatCsXJycladCBvZ2NaboR1r9Lh+U2jEF1No7HDCCd9ho3JlVanN0DJ0SlEUhoeHmbjyJLWjj5E23w+AnLsfqfb3kWveBGL8b1fV4BcElPyDSPkHke75I4SxBiw3/xWx9SnE6U7E5z6BcuELSKc+gHTivdsOq0pEjgasbRAEAgGamppYWFjg9OnTuFzbDxnbKR6NeKGnuZpsjZ1gdAuCgMPhwOFwsGvXLmRZZm5uDo/Hw9jYGB0dHaSmpqqiIxgM6n7N0WJWndJnjoaZDB4/TKGxQ1nZGyPSUKnb0Sp0KhQK0db4IgU3v0TtxI8ACKa4GD/yu+Q/9JHl0rQasaZnQRBQio8SKj4KD/4pYvMTWK/+HcLMANZf/CWWy19GOvkBpLO/F3XyeCI8GnCnETQzM0N9fT0Oh2P9EsLbHE8L9CQ0jGqQGQW93IdbQRRFsrKyyMrKorKyEkmSmJmZwePx0N/fz8LCAhaLhc7OTjWxPNqwS72hxxP9WCHLsu6ElqIoptCIM8b45RuMrSR8b4QWoVOzs7N0X3yauzq/RKZ3AADp+HtpK/xVSM8iX0ORARF4cVIdyCfeS+DYuxFbv4vl8pcRJ9uwXvwilvp/JXTPR5GPvhssWzPQE5GjAS8/FBVFYWBggI6Ojph3WwdTaGyGnua6XYworHb6mi0WC7m5ueTm5gLQ29vL9PQ0kiTR2dnJ4uIiTqdTDbVyuVy6Mka3gtET4QFdXVu/34+iKGbVqThiCo0dxma9MbZCPEOnFEVZPvm68k3O9P89ohRAySwg+LqvoFS+AtrbE1LxKmKDX7QiH34Lcs2bENufwfLzzyK6u7H98OPI1/4R6cE/Rd73qtiPGyNW9u4IhUI0Nzfj8Xg4efIk2dnZcR1PC/QkNIxqlBgFvdyHsUQURdLT06murgZYlVg+MjJCKBRSE8tzcnI2TCzXG0b3aID+hAZgejTiiCk0dgjh3hjBYFB1XW53446XRyMQCNDU2Ehu+2OcGHgMALnqAYKv+wpkLJdaTETjvPC4WzKGBRG5+nXI+16N2PBNrM9/DtHTg/jku5D2v4bQQ58FZ+nmHxNlA71oCT8I5ufnaWlpIT09nXPnzpGSkhLXMbU0uvRk4OlpriZbZ6cY0ZFy+6l+eno66enplJSUoCgKXq9XFR59fX0IgnBHYrlevzO9hQ7FEj0KDZ/PB2CWt40jptDYAcQqVOp2LBYLgUBg25+zkunpaRobGjg6+m8UDTwNQOjEbyG98s9BfDmBLFE9PKLOS7HYkI//JoGat2K5+EUsV/8eS8cPEHt/jnTvx5BOvn/DZHatjfAwL774IlVVVezZsyfuD3YtvQyJ+j6jQa8GlUlk7IRk8K2y0ZoFQcBut2O32ykvL0eWZebn5/F4PExMTNDZ2UlKSooqOrKzs0lNTdV4BdFj5NCpWERSaE04P0NP4khvmEJDx8Qi4XsjYmnsy7JMd3c3fb293DP/NFkDT6MgIL3yz5FOfeCO1yeqh8e2Q5hS7Uj3fwq55i1Yn/1jxKGrWH/8acTW7xF63f9Fyd0Tn3G3QCgUorW1FYCamhpKSzf3uMQCrcOZ9CI0QF9zNdkaRry2WxFXoijicrlwuVxUVFQgSRKzs7N4PB4GBwdpbW0lIyNjVcfyWBWpiAdGD53S29rDzfr0JI70hik0dEq0vTG2QqyM/cXFRRoaGggsLfFg6CekdzyOgkDoV76EfNfb1nyP1jkLsR5XKThE8DeeRmz4N6w/eRRx9Aa2f36A0AOfQj7+3jsa/mm13oWFBerr67HZbAiCEJPStZGipdAwczRMkgmjXePteHEsFgs5OTnk5OSwZ88egsEgMzMzuN1uuru78fl8OBwOVXi4XK6kKqdq9NApva3d7Aoef0yhoUNu740Rrx92LHI0JiYmaGpqoqCggLOhi6Q0/DMAodd8fl2RAYkLnYqpwS+IyEd/g0DV/die+X3EvueXk8U7/ns5H8VeGJ9x12FkZISWlhZ27drFvn37+MlPfqJ57w4tk8ETIVSjRS+iyGTrGPHaxtLYttls5Ofnk5+fD8DS0hJutxuPx0NbWxvBYBCXy6XmeDgcjoQZu4qiGFpoSJKUVKIvEnw+H5mZmYY7DNASU2joiHDCdygUikuo1O1sxzCUZZn29naGhoaoqamhbKEe2y/+EoDQKz+DfPRdG74/0aFTMY2rdpYSfNsTWK7/E5af/Tli389J+af7Cb7hH1AqzgPxPYGXJIlbt24xNjbG3XffTUFBgTqm1pWutPRo6AU9zdUkOox2jeNpbKemplJcXExxcbHaAyGcWD4wsFwifWVFq4yMDM2+/5WNcY2IHj0afr/f9GjEGVNo6IR4JXxvRLQeDa/XS0NDAwB1dXXYF3qwPv27wHKPDOnU+zf9jESGTkEcEjgFEenU+5Er78P63fcjTrZh+4+3Ip3/GFLdR+K2Xp/PR319PYIgUFdXt2pD1Tph2gydWh89zdVkaxjx2mqVAC8IApmZmWRmZlJWVoaiKGpi+dTUFN3d3Vit1lUVrdLS0uI2n/C11puxHSv0KDTCHg2T+GEKDR0gyzKBQEATL8ZKoglfGh4eprW1lfLycvbv348Y9GJ76r0IQR9yxb2EHvqLuI0dC25vZBdrlLz9BB/+AdYffhxL479j/cVfIgxdxbbvw8hybE9VxsbGaG5uprS0lAMHDtyxHq2N8Z0gNOLxuUY9/TQSRrvGiaq8JAgCTqcTp9PJ7t27kWVZTSwfGRmhvb2dtLQ0Nb8jOzs7ponleizvGktkWdZd6JTX6zV7aMQZU2gkMfHojbEVtuLRCFcympycXBWeY33uEwgz/SjOMoJv/OqGJV5vHzuRHo24jm3LWE6ELzuD9Yf/E0vPj6kev0V/3f8G9m3748Nha8PDwxw+fJiioqI1X5eIJoFmwz4To2GWt00coiiqgqKqqopQKKQmlvf29tLc3Izdbl9V0Wo7hrLRQ6fC5W31hBk6FX9MoZGkhBO+r1y5wl133UVaWprmm1ekxv7c3Bz19fWkpaVx7tw51TUttn4XS9O3UASR4Ov/DtKzIh470aFTWowt3/0OgkV3Yfv2w6TNDrL3p7+NlPNPKFX3R/2Zfr+f+vp6ZFmmtrZ2Q5fwTs/R0IvQ0NNcTbaOEa9tsgiN27FareTl5ZGXt9wYNhAIqInl7e3tLC0trUosdzqdWzKcw56cZFy7FugxdMrv95uhU3HGFBpJxsreGIqiMDMzkzA39GYeDUVRGBgYoKOjg8rKytVN37yTWJ/9HwBIdX+AUn42pmPHi/BDQisDXCk8TODh/yb02NvInG5CfPwdhF75F8gn7iyBuxmTk5M0NjZSWFjIwYMHNz2Z09rA1TInRG/Gu57muh2Mss7bMZrhmaxC43ZSUlIoKiqiqKgIRVHw+/1qYvnQ0BCyLK9KLN+sOpGRK06BPoVGuGGfSfwwhUYScXvCtyAIWK3WhBjcsLFXIRAI0NzczNzcHCdOnCAnJ2fV360/eRRhcRa58AjSuY/GdOx4o/nYmfn03fu3FF77K/KGnsX23McJzfQhPfinIGy+acuyTFdXF/39/dTU1FBSUhLRsGYyeHKgB4PMJHr0ch/GEr0IjZUIgkBGRgYZGRmUlpaiKAoLCwuq8Ojt7V0VipWTk3NHyI2Ru4KDPnM0TKERf0yhkSSEvRjhGMfwZpWopGhY9iqEPSwrTyk8Hg8NDQ04nU7q6upISUlZ9T5h4CKW5ieWm/K9+nNg2XqyXVzKzG5xbC0RbGn03vVHZO07jfWnf4712j8geCcJvfZvwZKy7vvUZoiBALW1tdjt9sjHNEOntoSiKLjdbtLS0mL+YDKiMWokjGZ87oSTfUEQcDgcOBwOdu3ahSzLzM3N4fF4GBsbo6Ojg9TUVFV0ZGdn6/JEP5boMUfD5/NRXFyc6GnsaEyhkWA2642RqBCi8Njw8uahKAo9PT309PSwf/9+du3adecDVA5hffZjy/957N0oJce3NXYiTkgSITREUURWFKSzH0axF2N95vextD6F4HcTfNM/Q8qdAmJ6epqGhgby8vI4ceIEVuvWfs6mRyNyQqEQTU1NTE9PI0mSWrkmJyeHrKysbVWuMZoRaiTC96DRrrEePRqbIYoiWVlZZGVlUVlZiSRJzMzM4PF46O/vp6WlhbS0NCRJYmpqiqysrC3vyXpHj0LLLG8bf4z1K0hCwlWlYO3eGIkUGisToxcXF2lsbGRxcZEzZ87gdDrXfk/TtxCn2lHScwnd9ycxGTsRQkPr73ylYSwffgvBjBxsT7346bJrAAAgAElEQVQXsfdn2B57E8Ff/3fIyAVYJfiqq6spKyuL6qGutaDSujN4rITGwsICN2/eJDU1lbNnzyIIArOzs7jdbrq7u/H7/TgcDlV4bDWBFEyPxk7FqNfVCCFEFouF3NxccnOX9+VAIMDQ0BBDQ0N0dnayuLiI0+lUQ61cLpfujPCtIstyTMsFa8Hi4qJZdSrOmEIjwYSTj9fblBMtNARBYHJykvb2dvLz8zl+/Pj6pzShRawXPg+AVPeRLVWZWmtsWBZiWm9cCfNorBhTqXqA4Duewvb4OxHH6rH925sIvv1JAjYXjY2N+Hy+DQVfJJh9NDYn3Itk165d7N27l1AohKIoqyrXLC4uqpVrmpqakGV5VTjFZp2Jd7pBZmK8a7wTPRqbkZKSgtPpJDU1lTNnzqxKLB8ZGSEUCq1KLLfb7TvuO9JjjobX6zU9GnHGFBoJZrNSeIkUGmHDt7W1lZqaGkpLSzd8veXmvyLMDaM4SpCOv2dbY4dFTqJK3Gp9ErmWuFFKjhN819PY/u1NiJNtWL7xeq5X/g/SCyqpra3dtgAzczTWR5ZlOjs7GRwc5MiRIxQWFq77eWlpaZSUlFBSUqImkLrdbiYnJ+nq6sJms6nejuzs7Dtymkx2Lkb1aBhRaMDq3JT09HTS09PVfcHr9arCo6+vD0EQ7kgs1/t3psccDb/fbyaDxxlTaCQ5iRIaPp+P+vp6AO666651m76phBaxXPw/y/95z0fBmrbtOSSyl4bW3/l6a1Vy9xF4x3cRv/EGbJ5uzoU+g3z2aYQYeHkSkaOhh9CpQCBAfX09gUCAs2fP3pFgv5ERtTKBdPfu3WvGcYfDrMINwvRUIcskOvRuQG4VowqN9XIUBEHAbrdjt9spLy9HlmXm5+fxeDxMTEzQ2dlJSkrKKk9oampqAlawPfSYo2EKjfhjCo0kJxFCY3R0lJaWFkpLSwkEAhGdwIot30bwTaE4y5CPvC0m80hUxa2EVJ1axwgPBoM09c8SrP4U57r+kpT5QZR/eyOBd34PnJGVsd3qmPFCDx6NmZkZ6uvrycrK2jhMMELWiuN2u9243W5aW1sJhUI4HA4kSWJhYWHTOv0m+sJMBjcWkeamiKKIy+XC5XJRUVGBJEnMzs7i8XgYHByktbWVjIyMVQcSesh90JvQUBTFTAbXAFNoJJjNNiUthUYoFOLWrVuMj4+r4SJTU1Obj68oWK7+PQDSyd+KqpztWkTamTzWJCpH43bDeHZ2lvr6eux2O8ceeCOh2jrEf3sTwkwftn9/M8Hf+B5kFsR0zHii9XhbGUtRFIaGhrh16xb79u1j9+7dcTGUbm8Q5vV6GRsbY25ujuvXr2O1WlXjIicnR5enmpthRAPUaOyE8rbREK2hbbFY1PDKPXv2EAwGmZmZuaPgxMrE8mTMhZAkKSnntRGm0Ig/ptBIcrQSGvPz89TX15OSkkJdXZ1ahSESY1/o+elypakUO9LdvxGzOSUqdCoRAmflWhVFYXBwkPb2dvbs2UNlZeWycZZSRuAdT5Hyzdcjurux/ftbCb7zu5CeHdWYO9mjsRVRI0kSra2tTE5Ortl8Ml6EwymKiooYGRnhnnvuUatZDQ0N0dbWRmZm5qoyunp7iBsd06NhLGIlsGw2G/n5+eTn5wOwtLSkFpxoa2sjGAzicrnUAwmHw5EU37fePBpghk5pgSk0khyLxUIgEIjb5680aisqKtizZ8+qjSISoWN58asASHe/E9Kir4J0O0YKnQqPGQqFaG5uxuPxrG30usoIvP3JZbEx2YbtW28j+PYnIdUR1Zg7teoURObRCOciiaJIXV0daWnbzy2KhrCBEj6xDJ9qejwe3G437e3tLC0trapakyzGhcn6GDX3xqhCI15lfVNTUykuLqa4uFgN9wknlg8MDACs2hs2q3QXL/QoNEyPRvwxhUaSE0+PRjAYpLm5mZmZGY4fP67Gka9kU2N/fgyx5ycAyMfeE9P5GSl0ShAEQqEQly5dIi0tjbq6uvXDZnKqCL79SWyPvRFx9Ca2J95J8Ne/Bbat1QLfyR6NSB6yk5OTNDY2UlxcTHV1dcIekOvN1WazUVBQQEFBAYqi4Pf71fyO/v5+VZiEPR6JEkkmm2M0o9sIfTTWQgtDWxAEMjMzyczMpKysDEVR1MTyqakpuru7sVqtqxLLtdob9FbeNtwjzPRoxBdTaCSYSHI04mEMejweGhoacDgcnDt3bt2E783Gt7Q8gaDIyGWnUXL3xHSOiaw6pfW4U1NTBAIBysvL2bt376b3hZJfTfBtjy+Xvh28jPXp3yH0q/8MYuSbfCJyNLSsOrXeWCsbHh46dGjTss1asNl1EASBjIwMMjIyKCsrU6vWuN1uRkdHaW9vJz09XTUssrOzDdeVOBkxPRrGIhG5KYIg4HQ6cTqd7N69G1mW1cTy4eFhbt26RVpa2qq9IV6J5Xorb+vz+QDuqCxoElvMJ1GSY7FYCIVCMfs8RVHo7e2lu7s7oqTXDT0qioLY+B8ASHe9PWZzDGOE0KlwfsD4+DgWi4V9+/ZF/F6l6C6Cb/kGtv/4NSwdP4AffpzQq/4aInzAC4Kg6febDB6NYDBIY2MjCwsL2254GCui7eoerlpTWVlJKBRSw6y6urrUrsRhb4fD4dCVAbDTMJrRbVShkQyhQytDMKuqqgiFQmpieW9vL83Nzdjt9lUVrWLlhUiG9W+FsNAwPRrxxRQaScBGBlgsPRpLS0s0Njbi9/s5ffo0Lpdr0/dsZOwLo/WI050o1nTk6tfHZI4r2emhUwsLC9TX12O1Wjl27Bg3btzY8mcou2oJvf7vsH7nt7Dc/BqKoxjp3B9G9N6dnKOx1ljz8/PcvHmTzMxM6urqkqpc5Ha/F6vVuip5NNyV2O12Mzg4CLDjmoPpATMZ3FgkY8iY1WolLy+PvLw84OUS2x6PR839CieWZ2dn43Q6oxYLehQaoijuyOp+yYQpNJKcWOVoTE1N0djYSG5uLseOHYs4rGIjY1/seAYAed8vRZWMvBmJDJ0KBoNxHWN0dJTm5mZ27drFvn378Pv9Ua9Vrn4doYc+g+25T2D9xV+iOIqQI/AwJSJHI1EN+0ZGRmhpaaGyspI9e/ZEZQwIghAXIyIen3l7V+JwmFW4OVhqauqqbuXJJLp2EkYOndKTwRkr9LDu20tshw8lPB4PQ0NDyLK8KrE80t4+iqKgKIqucjTCieDJJg53GqbQSHK2KzRkWaazs5OBgQEOHjxIaWnpln5UG40vtn9/eYz9vxz1/DZiJ4ZOybLMrVu3GBkZ4e6776agoEAdM7xRR7PpySd/i9D8KNbLX8b6g48SdJahVJzf8D1G6Awe/r5HR0c5evSoeuKfbMTzOqyM4Q43B7s9lMLpdKqGhcvlSnpjSU8Y0YgxskdDT4b2ytyv0tJSFEVhYWFBFR69vb2rQrHC3tC1CD+r9bR3+Hw+07urAabQSAI2C52K1tj2+Xw0NDQgSRK1tbVRJTytd7ovTHUgurtQLCnIe14Z1fw2Y6eFToVLqQLU1dWtigsNb87beUBLr/gThLlhLK1PYfvO+wg+/N8oOVXrvn6nV52SZZmrV6+q93+yxuFq/ZC7vVt5uEa/2+2mpaUFSZLIyspSPR6JKpW5EzCyR8OI94zeQoduRxAEHA4HDoeDXbt2Icsyc3NzeDwexsbG6OjoIDU1dVVFq3AhmfCzRE/r9/v96wonk9hhCo0kJ1qhMTY2RnNzs1q6M9pTlvXGFzte8mbsPh+XsCnYWR6NiYkJGhsbKSkpWbOUavj/b+tBJYiEfvlvEGb6EUdexPrEOwm++weQnrXmy3dyZ/D5+XmWlpbIzc2lpqZGF6eMiTLObq/R7/V6cbvdTE9P093djc1mW1VGd70KdSZrY0SD2xQaOwNRFMnKyiIrK0stOhFuKtrf309LS4vaVDTci0JP6/d6vWbolAaYQiPJ2arQkCRJDRU5fPgwRUVF2xp/PWNf7PkpAPK+V23r8zcbO5YVt7YybqyEhizLdHR0MDg4yOHDhykuLl53zPDrt4UtneCbv0bK11+93D38u+8j+Gv/AZY7Y/B3okdDURT6+/vp6OjAYrFw5MiRpH+IJNP8wt3K7XY7u3btQpIk1bAYGBigtbVVrVgTDrPSg4hLFEY0uLcTAqp39JCjsR2sVusqb2ggEFDDMPv6+gC4ceOGGmqV7GGYpkdDG0yhkeSEw4ci2bhXVjE6d+5cTH5AawqdgBdh+DoAcsW92x5jo7Hj2RV9PWIlNBYXF6mvrycUClFXV7dh99HwtY2JIW4vJPjWb2L7119B7Hse648+uVz29jZ2WtWpUChES0sLbrebmpoabt26FXNjJ57GUzIaZxaLRRUVsGxYhKtZtbW1EQwGcblc6mvsdvuGazBaKJHR1gvGrbQFyVl1Kp6kpKSoTUXn5+e5ceMGxcXFeDweRkZGCIVCqxLLN9sftMbn8yVtSO1OwhQaScBmfSxg2VOxXqUoRVEYGhri1q1b7N69m71798bsFGGtPAlh6CqCHERxlkF2ZUzGWQs9h05NTU3R0NBAQUEBhw4d2vTUN3wPxMrDoBTUEHrDP2B98t1YbvwLctHdyHe/444xd4pHw+v1cvPmTVJSUqirqyMQCMRlrHh8ZjI9eDcjJSWFwsJCCgsLURQFn8+nlsrs6+tDFEVVdOTk5JhlI9HX9Y0FRhcayXyCH0/CifAlJSVqtTuv16smlvf19SEIQlKV2TaFhjaYQiPJ2UxoBINB9RT32LFjaq3sWI5/u7Ev9j8PgLz7noibw0VDIsvbRitwFEWhq6uLvr4+Dh48SFlZWUTvEwQh5uuV970K6d6PYf3FX2F99mMECw6hFB9V/75TOoOPj4/T1NREWVkZ+/fvVwsY6O00WW/zFQSBzMxMMjMzKS8vVxNH3W43w8PDtLW1kZmZqRoVWVlr5wrtZPR2TWOBkYXGTg+d2ojbRdbKMMzw/jA/P4/H41HLbKekpKxKLNf6YMIUGtpgCo0kJ1y7fy3Dd3Z2lvr6ejIyMjh37lxcfqRrGYdi/0UA5E3Kp24XvVWdWlpaoqGhgaWlJc6ePYvDsbUk+XgY4lLdHyCM1mPp/G9sT/0mgd98DjKWxajePRqKotDZ2Ul/fz9HjhxZlY+kZYWr7bJTDLKViaNVVVUEg0H1NLOjo4OlpSXsdrsqSBwOx45Z+0YYYY0rCf/ujGhwG9mjIUnShp57URRxuVy4XC61zHY4/2twcJDW1lYyMjJWdSyPd38fv9+/YUizSWwwhUYSsNGDSBCEO7wKiqLQ19dHV1cXe/bsobKyMm4Pszs8GqElhPEmAOSy03EZM4yeQqfcbjcNDQ1kZ2dz/PjxiBsiriQuhr8gEnrtVxC+/qqXksN/m+DbvgWiVdc5GoFAgIaGBhYXF9cs3awnoRFGb/PdDJvNpsZvw/JDfWRkRM0lA1ZVs9qJSZk77ZpGgpE9GkbL0VjJVkXW7flfwWBQTSzv7u7G7/fjcDhWJZbHuvCE1+s1PRoaYAoNHbDS2F9aWqKpqQmv18upU6fiHo5wu9AQJlqW8zPSc8G1K+5jJ8KjsZVxFUWhp6eHnp4eDhw4QHl5edQPmrgZ/mlOQm/+Gravvxqx/3ksP/sLpAce1W1n8NnZWW7evInL5aK2tnbD3CU9YBTDJD09nYKCAoaHhzl//rwaZjU+Pk5HRwdpaWmq4aHFaaZWGOX6hjGy0DBDp6Jfu81mIz8/X22qGu7v4/F4VhWeCB9OxMIjano0tMEUGjogbOxPT0/T2NhIdnY2dXV1mjyIbz/dF0ZuAiCXHItrfsZaY2tFpOMGAgGamppYWFjg9OnTuFwuTcaNBiXvAKFf+Vts33kf1it/h1Jeh5hzQncejaGhIdra2ti7dy8VFRXrPmhi0QBRa/QijGKBIAhqGEW4Pv9ap5lh4eF0OnVpwOnp/osV4T3MaOsG06MRy9/o7f19fD6fGoo5MDAAsKqiVTSNRf1+vypsTOKHKTR0gCAIDA4OMjk5SXV1NWVlZZptZrd7NMTRGwCrkorjRTKHTs3MzFBfX4/T6YyZ6Iu3sJKrX0fo5PuxXv9HrP/1YSxvfkpTIbcdj40kSbS1tTExMcHx48fVOu6boQdDL9L5yYrCn/+gk75pP//rNfuoyts5Ln+r1UpeXp5azGJxcVE9zWxqakKW5VVJo3rpVm4k8RhGD7+5eGHmaMSnp87KwhNlZWUoiqImlk9NTdHd3Y3Val21R6SlpW36uWYyuDaYQiMJ2GhT9vv9LC4uEgqFokow3i5h4zC8gQpjjQAoxcfiPnYyJoOHG8J1dnZueqq+VbQIZZLu/xTi0DXEsXqyf/xR2PXRuI63kmg9Gn6/n5s3byIIArW1tRHF8u/Eh/3NwTmevDkGwO9+q5nvfOAE6bad2SwvLS1tVZnMhYUF3G43k5OTdHV1YbPZVG9HdnZ2UncrN5rRbWShYYZOabN2QRBwOp04nU52796NLMvMzs7i8XgYHh7m1q1baihmOMdjrcNAv99vCg0NMOYvQieMj49z8eJFrFYre/bs0VxkwMvldWVZBimI4O5e/v/5B+M+dqJDp243ioPBIPX19fT19XHy5MmYJ+FrkpxtTSX4xv+HkuogZewGewe/Fd/xVhCN0JiamuLixYu4XC7OnDmz5YThWN8/8TCgIm3WOLmwpP738Mwi//jCQMznogVb/Q4FQcDhcLB7926OHTvG+fPnqa6uxmaz0d/fz4ULF7h27Rrd3d243e6E7BnrYXo0jIWRPRqJXLsoimRnZ1NVVcXJkyc5f/48+/btQxAEent7ef7557l27RpdXV387Gc/Y35+Hlj2aMQiR+OZZ55Rn095eXm86U1vUv/W0NDA29/+dsrLy0lPT+fgwYN86UtfuuMzmpqauO+++0hPT6e0tJQ/+7M/2zH7h+nRSEIkSaK9vZ2RkRFqamoYGRlJ2A23so+Hbb4fQQ6hpGSCszTuYycydApWPzDn5ubUUsJ1dXVxOUHVTFhlVxD65f+D7TvvY8/o0wS7f4y858G4D7sVoaEoCr29vXR3d2+pH8nKsXYaqdbV3ouvXR7izUeLKc3aPERgJ2GxWMjNzVXD5wKBAG63G7fbTWtrq9qNOOzxyMzMTNj9YESj2+in+ka73mHCDfuSgdtDMVfuER/+8IcZHh6mpqaG1NRUhoeHCQaDUYc/f/vb3+b9738/n/3sZ3nggQdQFIWmpib17y+++CL5+fl885vfpLy8nIsXL/KBD3wAi8XChz70IWDZvnjooYe4//77uXbtGh0dHbznPe8hMzOTj35Uu6iDeGEKjSRjYWGBhoYGRFGkrq6OjIwMxsfHE2Jww8sGmyRJCFPtACi5++OeCA6JDZ2Clx8a4a7rVVVVVFVVxe1BoqUHR65+HYtH3kVa0zew/teHCfzWzyEzvklxka4vFArR1NTE3Nxc1En2se60rgWbiTB76vJDvCInnUJnKlf6ZvjHFwZ49Ff2azG9pCUlJYWioiKKiopWdSN2u9309PRgtVrVEIpEdCs3muFpRHEVxsgiS5KkpF37yj2ioaGBW7du8eyzz/L1r3+dv/mbv+GLX/wi9913Hw8++CAPPvgghw8fjmgtoVCIj3zkI3zuc5/jfe97n/rvBw4cUP/7ve9976r3VFVVcenSJZ566ilVaDz22GMsLi7yta99jdTUVA4fPkxHRwdf/OIXeeSRR3T/e0rOu8JghE96h4eHuXTpEnl5eZw5c0aNHVyrO7eWcwsb/MJUBwBK7j5Nxg6HEmntzQlvMOGqUp2dnRw/fpw9e/bE9QevdblZ/71/wlxaGYJvCuv3/xDi/D1H4tGYn5/n4sWLSJJEbW1t1JW84nWd4hk6tRm5mctetMmFAB+6bzcA32scZ2jGH/M56ZVwN+Ly8nLuvvtu7r33XvXkcmhoiBdeeIErV67Q2dnJ9PR03PfVnRL6sBWMKjTCz6pkNbbjjV7CxkRR5NChQ/zBH/wBAI8//jjPP/88999/P8899xx1dXUUFRXxla98ZdPPunHjBsPDw4iiyLFjxyguLuY1r3kNLS0tG75vdnZW7R8CcOnSJe67775VhyCvetWrGBkZoa+vL7qFJhGmRyMJCJ/gTk1NcfTo0TvKrSVSaKwcX3B3AaDkaXOCGt60JEmKqgHedse9fv06qamp1NXVRVTBIhbjalpu1pbO9YoPcn/nn2Hp+iHyza8hH//N+I23idAYHR2lubmZiooK9u7duy1jJdK8h2Ris7kWu5YfQt6ARGVuBnVV2Vzs8fDVFwYN79VYj3DsdnZ2Nnv27FG7lbvdbtrb21laWlpVIjMe3cqNZnQbNXzIyGV9QT9CYyU+nw+73c7Ro0c5evQoH/3oRwkEAly9ejWiJPGenh4AHn30Ub74xS9SUVHBF77wBe677z46OjpWiYkwly5d4vHHH+eZZ55R/21sbIyKiopVryssLFT/VllZuY1VJh593RU7lFAohCzL1NXVrVnTOdFCI5wrIcwOAqDEuVFfmFWJ6BoyMjICQG5uLqdOndJEZID2ye+iKDKfXk7wFZ8EwPrjR1WvVTxYT2jIskxbWxstLS3cfffdahLfdscCfQiNSNeabrOQm7kcRzw0s8gHzy//Dp9uGmdifmmjt5q8RLhbeXV1NbW1tZw5c4b8/Hzm5ua4efMmFy5coLm5mZGRERYXF7c9nh7uv1hjVI9GeO/Wm7EdK5IpRyNS/H7/HQVGUlJS+NGPfsSJEycQBGHd/12/fl295n/yJ3/Cm9/8Zk6cOMG//Mu/IAgCTzzxxB3jtbS08IY3vIFPfepTPPTQQ6v+dvtvZic1vjQ9GklAeno6R4+u35fCYrGwtJQ4Q0INnZodAkBxbS0xN1pW5kpoQbhXw/j4OKIosnv3bk0fGloLjfAGFjr+Xqw9P0bs/RnWpz9I8OEfgCX2ye5rhYYtLS1RX19PMBiktrY2Zl1a9SQ0IPJE+dKsNKa9QYZnFvmlg/kcL3dyY3COx66N8IcP6PvUS2sEQSAjI4OMjAzKysqQZZn5+Xncbjejo6O0t7eTnp6+qkRmNJ7VnWAobAWjCo3w79eoQiOZczTWI+zRuJ0PfehDvO1tb9vwvRUVFWr1qkOHDqn/npqaSlVVldpUMExraysPPPAA73//+/nkJz+56m9FRUWMjY2t+reJiQngZc+GnjGFhg5ItEfDYrEgBRdhYfmHoLjKNRk3fHKgxdq9Xi/19fVqEv7Fixc196RonaOhCjkFgq/9MilfvQ9xvAnLhS8g3ffxuIy30pj2eDzU19eTk5PDiRMnYh4eF4tO5LeTiJyhlVTkpNM4PE/f9HJexntry7kx2MLjN0Z4/7ly7Knmlh4toije0a08HGYV7lbudDrValYOh2NTw8qIRrcR1wxm6JTeQqeCwSDBYHDNw62VFas24sSJE6SmptLe3s4999yjfm5fXx+7d+9WX9fS0sIDDzzAww8/zGc+85k7Pqe2tpZPfOITBAIBtaLlD3/4Q0pKSu4IqdIj+rkrdjgbbU6JFhqiKCLMjyIoMoolJe7ViVaiReWpsbExLl26RE5OjloLOxE9PDTP0Vh56m8vJPSazwNgufS3CCM34zJe2FDv7+/n+vXrVFVVcdddd8UlByceQiNeRDrXqrzlh2L3lBeA83tz2JOXwcKSxJM3R+M6R6NhtVrJz8/nwIEDnD17lrNnz1JcXIzX66WhoYELFy7Q1NTE0NAQPp9vzeunl/svlhg1ITqcm2IKDX3g8/kAtuVFdzqd/M7v/A6f/vSn+eEPf0h7ezsf/OAHAXjrW98KLIuM+++/n4ceeohHHnmEsbExxsbGmJycVD/nHe94B6mpqbznPe+hubmZ73znO3z2s5/dERWnwPRo6IJECw2LxYI4v5y3gKMEhJ0RTiTLMu3t7QwPD3PkyJFVLspE9PBIRI4GvHwSJx94LdKhN2FpfQrrM79P8DefA2vs8lPCHpumpiamp6c5efIk2dnZMfv8tcbbaYbenrzlBMWeqeWHpCgIvOdsGf/rvzr4xpVh3nmqFJtFPw97PZGenk56errarTwcZjUxMUFnZyepqamrupWH6/LvBENhKxjVo2FUgRVGbzkaYaGx3c7gn/vc57BarbzrXe/C7/dz5swZfvKTn6jPtieeeILJyUkee+wxHnvsMfV9u3fvVitKuVwunnvuOX7v935PfS4+8sgjPPLII9uaW7JgCg0dkAxCQ/BOA6DYCzQdO14Gv9/vp76+HkVR1H4lt4+bCI9GInI0Vo4ZeuiziP3PI061Y3n+fyPd/6mYjbe4uIiiKPj9furq6uLez0BvQiOSue7JX75Pe6f9SLKCRRT4lcMFfPlnfUwsBHimeYI33l0U76kaHkEQcDqdOJ1OKioqkCSJmZkZ3G43vb29NDc343Q6SUlJUYt9GMUINarQMNI1Xgu95Wj4/X5sNlvUjfrC2Gw2Pv/5z/P5z39+zb8/+uijPProo5t+zpEjR/jFL36xrbkkK/q5KwxMohrXhRFFEdHvBkDJyNV07HisfWJigosXL+J0Olf1K1mJ1mFM4TETkReyap0ZOYRe8wUALFf+DmHoWkzGmZiY4ObN5XCskydPatI0TU9CI1LDrMSVRqpVZCkkMzK7XBXJZhF515lSAP7l8hCyTta8kwh3K9+3bx9nzpzh3LlzlJaWEgwG8fv9PP/88zQ0NDA4OIjX69XNfRkNRi5va8R1h9Gb0PL5fGRkZBj6mmmFfu6KHc5mORqhUEjD2dw5vri4LDTI2DxBKpbE0vgOh0o1NDRw8OBBampq1nX1JoXRrwFrCSp536uRDv8agiJjfeb3IRh9QzhFUejs7KShoYH9+5d7PWi1setJaEBkHg2LKFCZu1yOsXvSp/77W44VY0+10DPl40KXO25z3C56uh7bITU1leLiYkpLS3E4HJw4cZEfCw8AACAASURBVILs7Gymp6e5du0aFy9epLW1lbGxMQKBQKKnG1NMj4Yx0VvolNfr3XbYlElkGPdXoSMS7dGwWCwJ9WjEInRqcXGRa9euMTk5SW1tLSUlJRu+3gg5GhuNGXrlX6DYixDd3Vhe+GJUnx0IBHjxxRcZHR3l7NmzFBUth/RoZWzqSWhsxTCreilPo+ulhHAAe6qVtxwrBuDrV4ZiOzmTqAnH7dvtdnbt2sXRo0c5f/48Bw8eJCUlhYGBAS5cuMDVq1fp6urC7XYnNEw2FhhVaBg9R0OPoVO399AwiQ9mjoYOSHSOhiiKWJZmlv9PurZCIxbG99TUFI2NjeTl5UVcRjWZjP54sq4xnp5F6FV/he3b78Fy+SvIB9+AUng44s8NN0BzOBzU1tZis9kIBoOAKTTWI9K57snLBCZXeTQA3nmqhG9eHeZq/yyto/McKnbEYZYmW+V2o9tisahJ47AsyMNldNva2ggGg7hcLvU1drtdV4a7UYWGGTqlL4+OGTqlHabQSBIiKW+bqA3cYrEgBhYAUNJcmo69Hc+Coih0d3fT29vLwYMHKS0tjfj7M4rQ2GhMef8vIx14LZb2/8L6/UcIPvx9EDffMoaHh2ltbaWqqoqqqir1O18r+TzexFpoxOv3t5XP3V+wXI6xY8K76t+LnGn80sE8vt8yydevDPHXbzwY0zmabJ1I7r+UlBQKCwspLCxEURR8Ph9utxuPx0NfXx+iKKqiIycnR5P8pu1gZKGhJ0M7loTLluspdCosNEzijyk0dED4x5uoGEiLxYIYeun0NCU2nZu3MnY0hmkgEKChoUEtN+d0OjUZdzto3bAvPOZGxlDol/4Sse8XiGP1WK7/I9LpD677WlmWaWtrY2xsjGPHjt3R8Cj8ENbKy5CIhP7tEOlcq4uWf4M9Uz4CIZkU68vGzcNnyvh+yyTPtk7yhw9UUuSMXXlik+jYitEtCAKZmZlkZmZSXl6OLMvMzc3hdrsZHh6mra2NjIwMVXRkZWXFpQfNdjBqCJFR1w0vHx7paf2m0NAO/dwVBiYsLhIVPiWKIqK0XOEGm7Y/zGhO+T0eDy+88AI2m426uroti4xox90uiTCMNxU39kJCDzwKgOXnfwWevjVftri4yJUrV5idnaWurm7NrqqrGgRqhF6ExlaM0UJHKs40KyFZoXtqdfjUoWIHp3e7kBR47NpIrKdpskW2e/+JokhWVhZVVVWcPHmS8+fPU1VVpRZZeP7557lx4wZ9fX3Mzc0lxf1uZI+GEdcNL9smptAwWYvkOgoxWZPwjzdRQmPZo7FceUjR2KOxldApRVHo6+ujq6uL/fv3s2vXrqg3/mQLY4rnmJsZJ/Ld70Ru+TbiwAvYnv1jgr/+LVjxvU5PT9PQ0EBBQQEHDx5c1+umtdCIR45GPA2JSOcqCALVhZlc7Z/l1vgCB4vsq/7+8JkyrvbP8uTNUX77nl3YU81tPpHE8p6x2WwUFBRQULDcz8jv9+N2u3G73QwMDACQnZ2tejwSkexqVIPbyKFTevRo+P1+U2hohPkEShI22pgFQUhoQrjFYkmYRyPSEKZgMEhjYyPz8/OcPn0al2t7uSRGEhqbjikIhF7zBWxfvQ+x92eIt/4T+eDrVwm76upqysvLNx1PywRtPSWDb9UwO1Bo52r/LO3jC3f87Z69OVTlZdAz5ePb9WM8fKYsVtM02SLxPt1PT0+ntLSU0tJSFEVRw6zGx8fp6OggLS1tVZjVdpuTRYJRPRpGD50SRVFX1930aGiHKTR0QiKFxnLo1NLy/7Fpe0IWiSE8OztLfX09druduro6UlJSNBk31iRV1anbUHKqkGo/jPXC57H+6JP4dp2nqaOP2dnZLQk7LfNQkiFxO15UFy57MdrHvXf8TRQE3n26lEe/38ljV4d5x8kSbBZjGkCJRkuhKwgCLpcLl8tFZWUloVBI7Vbe3d2N3+/H4XCowsPpdMbFMDaq0DC6R0Nva/f5fGRmahuhYVRMoaETEu3REJTlhoFKBFWHYokoius2tFIUhYGBATo6Oti7dy8VFRUxe8CJoqiWY9WKRJzAb8Xwl2p/H0vzkwgzfUw/+VFChz64ZWGnZR6K3jwaW5nrgcLlB2T7+MKaht1rjxTytz/vY3RuieduTfHLNQUxne92MJoRmqj1Wq1W8vLy1HypxcVFtZpVU1MTsiyrYVbZ2dkxK/VpZKFhxHWD/npowLLQyM7OTvQ0DIG+7gwDk2iPhhA2ggRtq16tFzoVCoVoaGigp6eHkydPUllZGdNN3igejS0Z/tY0Jk5/DIDyke9zqjxty94jM3RqfbYy16q8DKyiwPySxMjs0h1/T7WKvP3EclPKr18e0tX3sJNIpu89LS2NkpISampquOeeezh+/Dgul4vJyUm1W3lbWxvj4+Pb6lZuZKGhN2M7Vuhx7WaOhnbo687YwWy2MSfao4HykgEsaHvLrGV8z8/Pc/HiRYLBIHV1dXE5lTCK0IjUoyHLMu3t7Vz3uPBW/BICMrYffuzl+2IL45lC4062apjZLCJ785cfkrfWyNMA+PUTJaRZRVrHFrg+MLvtOZpERzIa3YIg4HA42L17N8eOHeP8+fNUV1djs9no7+/nwoULXLt2je7ubtxu95b2JaPmKhh13ZC40vvbwczR0A4zdEonbKdx3XaxWCwIvPSgEbXdTG5f99DQEG1tbVRWVrJnz564PcSNIjQi8WgsLS3R0NBAIBCgtrYWq1yD8v9eQBy+jtj478h3vzPi8bTO0dCL0ICtn34fKLRza9xL+/gCDx64s5xwdoaN199VyOM3Rvn65SFO7c6K1VRNIkQv95/FYiE3N5fc3FxguQ9RuJpVa2sroVCIrKwsNb8jMzNz3b3XyB4NI64b9OvRMHM0tMEUGjrBarUm2KMRDp3SdjMJh06FQiFaW1uZmppasxlcrElWoz/WbGb4z8zMUF9fT1ZWFsePH3+pOVgm0vk/xvrjT2P92WcIHHgtRNgx3vRorE00Bkp1oZ3vMb5mQniYd50u5Ykbo/y8y03PlI+qPPMET0v0anSnpKRQVFREUVERiqLg9XrxeDy43W56enqwWq1qbsft3cqNanDr8VQ/Vug1R8P0aGiDKTSShM025kR6NERRRCAxBls4Kfvy5ctqA760tPh3O07mMKZYsp64URSFwcFB2tvb2bdvH7t37151j0on3odY/03E6U4sFz6P9Mo/39Z48UBPQgOi8Wi8nBC+HhW5Gbxify4/7ZjmG1eH+PQv79/WHE22jt6NbkEQsNvt2O12tVv57Owsbrdb9TBnZmaq3g6jCg2jh07pbe1m1Snt0NedYWASnaMhCy9pUjmk6dizs7PMzc2Rn5/PqVOnNBEZYJzQqbXEjSRJNDc309XVxYkTJ9au5mVJIfSSuLC8+E8IUx0Rj2cKjTuJxjDbX7D8kByeXWJucf3fZbiPxtON40x7o0/yNdk6ern/toIoimRnZ7Nnzx5OnTrF+fPnqaysRJIk2tvbGR8fZ3R0NKm6lWuBUQUW6NOb4/f7E9LQ0oiYQkMnJFpoKOFqU5I2hookSbS0tDA0NERaWhoHDhzQ9MQkkaFTWj6Yb/cw+Hw+rly5gtfrpa6ujpycnHXfq1Q9gLTv1QhyCOuPPvlyeN0GmEIjdrjSbZS4lkNWNvJqHC93cqTEQUBS+NaLI1pNz+QldrrxGe5WXl1dTW1tLTk5Odjtdubm5rh58yYXLlygubmZkZERFhcXEz3duKHHU/1YobfQKUVR8Pv92O32RE/FEOjnzjA4iRQagiAgvyQ0BCn+vSXCxu7c3Bw1NTUJ2cASEaoWXqfWTb7CgmpycpJLly6RlZXF6dOnI/IehR78UxRLynLH8K5nIxrPFBp3Eu1cD7zUuK9tbH2hIQgC737Jq/EfL46yGEzMPmJE9HL/xQpBELBYLGRlZXHXXXdx/vx57rrrLjIzMxkdHeXSpUtcvnyZjo4OJicnCYW09ZDHEzN0Sl9rN3M0tMPM0UgSIilvq3UDuTCCICCLNpCIu0djfHycpqYmSktLOXDgAHNzcwkRWIkKYwJtN+3wOru7u+np6aGmpoaSkpLIPyC7Eun0B7Fe+hLWH/0vApX3gzV13Zdr+b3qSWhEy6EiOz/tmKZ1A6EB8MrqPEpcqYzMLvF00zi/dnwL19gkavSaDL4dVhrcoije0a08nFQe7lbudDrV/A6Hw6E7gzWMGTqlr9ApU2hohyk0dEIiPRoASpxzNGRZpqOjg6GhIQ4fPkxRURGQGIM/UeOGH7BajqsoCuPj4wCcOXMGp9O55c+Q6j6CpelbCDP9WF78KtKZ31v3taZHY32imeuhYgcAraPzG77OKgq863QZf/1cN9+4MsxbjhUjGtQo0hqjGZ8biSur1Up+fj75+fnAcpx8WHgMDg4CkJ2drVazSk9P1833p8dT/Viht7UrimImg2uIKTSSiI0Mo0QLDVm0Lf9HKPYxtn6/n4aGBiRJora2dtWPP1FCY72O5PFEa6ExPz/P6OgoVquVc+fOYbPZovugFDuh+z6O7ZmPYHnhb5COvA0yctd8qSk01iZaY+pQ0XLoVN+0H+9SiMzU9bf0X727kL/7RR99bj+/6HTziv1rXyOT2KGX+y+WbMWLk56eTnp6OiUlJSiKwvz8PG63m4mJCTo7O0lNTVW9HdnZ2dHvURqgN2M7lkiSlNTX5naWlpaQZdkUGhphzF+FDkm00JAsy9UZhMD6NfujYXJykosXL2K32zl79uwdP/zwurV+YCcqdEqrErcjIyNcvnwZh8NBbm7uth8S8uFfQy6oQViaw3LhC+u+zhQa6xPNXPPsKRQ6UlCAWxv00wDITLXyluPFAHztylA0UzSJAr2cyMeKaEOIBEHA6XRSUVHB8ePHuffeezlw4AAWi4Xe3l6ef/55tVu5x+NJyAHURpg5GvpZu9/vBzBDpzTC9GjohIQLDetLP8iljUM0IkWWZbq6uujv7+fQoUOUlpau+bqVCdJaPrAT0dNCi3FlWebWrVuMjo5y9OhRZmdn1U13W4gWQg/+KSn//hYsN7+GfOK9KLl773iZ1t+rXoTGdu7tQ8UOxuenaRmd58SujRsnvvNkKd+4MsyLA7M0j8xzuMQR9bjRoJfrESuMtl6I3V59e7fypaUltVt5S0sLkiSt6laekZGRUFFn5mjoJ0fD610+lDE9GtqgHwlqADbapBIuNGwvCY3A9oXG0tIS169fZ3x8nLNnz64rMiAxeQvwcuhUIjwp8RpzcXGRq1ev4vF4qK2tJT8/P6aGv1JxL9LeX0KQQ1h++mdrvkbLhn2J6LS+HaKdazh8arOEcIBCZyqvqVmOj/+66dXQBKMZn/E6FEpNTaW4uJiamhrOnTvHiRMnyM7OZnp6mmvXrnHx4kVaW1sZGxsjENC+X4zp0dDP2v1+P2lpabqas54xPRo6IdFCQ37JoyFs06MxPT1NQ0MDubm5HD9+HKt141swfEoiSdKmr40lifKkxCtky+12q997TU2N+r3G2hiXHvg0YvePsXT+N1L/Cyi7z636u9bhTHoRGtv1aMDmCeFhHj5Txn82TfBc2yQjD1RS4tKmCaYRMaLxqcWeubJb+a5du5AkSe1WPjAwQGtrK3a7XfV2uFyuuJ+4683YjiV666Ph8/l0VWhA75hCQyckIjl5JbL1JRdjYPNT07VQFIWenh56enqorq6mrKwsoh/5ypKvWrLSk6LnRoGKotDf309nZycHDhygvLx81fcea8Nfyd2HfOzdWG78C9af/CnB9zwLcRxvI4yQowFbSwiH5d4bZyuzuNw7wzevDvPHD+2JalyTzdHT/RcrElHS12KxqKICIBAIqNWs2traCAaDuFwu9TV2uz3mczR66JSehIbX6zXzMzTEFBo6wWKxJLS5kZzyUgfNxbktvzcQCNDY2IjP59tyCdVwA6hENc9LREJ4rMYMhUI0Nzfj8Xg4deoUWVlZd7wmHh6U0D1/hNj8OOJYPeKt/0Q++Hr1b6bQWJvtGCjhhPDx+QBt4wuc3HXndb6dh8+Ucbl3hm/Xj/E753fjTDMfBfHCaMZnMnhxUlJSKCwspLCwUC1l6na78Xg89PX1IYqiKjpycnJITV2/90+k6M3YjiV6y9Hw+/0Jz+kxEsb8VSQpm+VoJCJnIIyUumy8CP7pLb3P4/Fw8eJFLBYLtbW1UfVpMEpPi/C4sbjGXq+Xy5cvEwgEqKurW1NkQJySszPzkU7/LgCWn38WVnST1zIZXE9CA7Z3+v1y+FRkHsdzVdnszc/AF5D49s3RqMc12Rg93X+xItmaFAqCQGZmJuXl5Wq38iNHjpCens7w8DAvvPCC2q18amoq6gO9ZBBYiUJvIissNEy0QT93hsGxWCwoipI4oZGWDYDgi0xoKIpCX18f169fp6KigqNHj0ZdQnWnl5pdSSzWOj4+zqVLl8jPz+fkyZMbntbFK2FaOv1BlIw8RE8PYsNjcR9vLeJh7ExMTNDc3Mzg4CBerzdma9nuXGuKI08ID4/37jNlAHzz2jBBKblKhe4kksno1oJkDyESRZGsrCyqqqo4efIk58+fp6qqCkVR6Ozs5Pnnn+fGjRv09fUxNzcX8W882dcdT/SWo2GGTmmL6S/XCWG3ZCgUIiUlRfPx5bTl2Fd8U5u+NhgM0tzczOzs7LohO1shUYnwifKkRDtm+EHZ39/PkSNH1O7qGxE3MZVqJ3TuEWzPfQLrhc8TOPxWSMnUPHQqZhW1FIWuri76+vooLS1lenqa7u5ubDYbubm5MWkoti2PRtHWEsIBfqWmgL/9aR8T8wH+u3WS1x0pjHp8k7UxPRrJj81mo6CggIKCAmD5tDtcRndgYABA7VQe7la+Fno71Y8lelt7OBncRBtMoaETwkIjUQnhcvqy0NjMozE7O0t9fT12u526urqYiKJEdQdPlCclmjEDgQANDQ0sLi5SW1uL3W6P6H3x9DDIx96Ncu3vEWYGsFz/R6S6P9BljkYoFKKxsZH5+XlOnz5NamoqoigiSRIzMzO43W56enrw+/04nU5ycnLIzc3F4XBEbHBt1zA7VLy1hHCAFKvI20+W8OWf9/GvV4Z47eECTQxEPRmh20VvRncs0Pua09PTKS0tpbS0FEVRmJubw+12Mz4+TkdHB2lpaaroyMrKwmazqfuMnoztWKLHHA2zh4Z2mEIjidhocxYEAVEUE5YQrqSHPRrToCirKgnB8sNlcHCQ9vZ2qqqqqKqqitnDxkhCIxrDf3Z2lps3b+Jyuaitrd1SGeC4Gv6WFEL3fhzb0x/EcvnLSEffrTuh4fV6uXHjBmlpaep3G67Rv7Kh2L59+1hcXMTtdjM9Pc3g4CCCIJCdna16PDZLON3OXHMzUyhypjI2txRxQjjArx0v5qsXB7g17uVq/wxnKrKjnoPJ2ujZ6I4GvQuNlQiCgMvlwuVyUVlZSSgUUg8Xuru78fv9OBwOsrON/bvRW+iUz+czQ6c0xBQaOiKRJW6VjDwABCmw3B087eWk7lAoREtLC263mxMnTqglBmOFGTq1PkNDQ7S1tbF3714qKiq2/ICP9xrlQ7+KfPkriBMtWK78X4Sit+gmGXxycpKGhgbKysrYv3+/+l2t9x2npaVRUlJCSUkJsiwzPz/P9PQ0w8PDtLW1rarrn5WVterBHAvD7FCRnbG5JVpHIxcaWRk23nBXEf/x4ghfuzxkCo0YY4ZO7SysVit5eXnk5S0/D1ceLgBcvnxZDbPKzs42RGWjcO6oKTRM1sMUGjoikU37hJQMQtZMrCEvwsIYyktCY35+nvr6elJTU6mrq4tJmcDbSaRHIxFldSNZqyRJtLW1MTExwfHjx8nNzY1qvLgnvAsi0r3/E/HJd2F58Z9IeeiVLNlc8Rtv5dBRCg1FUejt7aW7u5uamhpKSkru+Hv489dDFEX1JLSqqopgMKgaJK2trUiSRFZWlurtWPm50XKo2M5POqZp+f/svXd4W/l55/s5BwBBEmxg71UUJZGSKKoRlDTj0diZuMXe8dixZ+NkPI43vk5dJ9knsfcmsZ8nud5rx3vj58a+KbuTuMYeO7ZjO2Vc4owK1dib2AsIdoAVYAFwzv2DOjApsQAkcIBD4PM88zwzQwDv+QGnvN/f2wKo0wB4/6UCvt40wc3BeQZnnVRkxVIKgslRdzQfR2tO52FQNhcyMzOZnZ2ltraWhYUFZmdnGRgYwGAw+DYXzGZzWOorQ43y/NBS6lRMaKhLTGhEEPs9kMIpNHQ6HevGDPQeJyxPQOZxbDYb3d3dlJaWcuzYsZA9UMMpNNTekfRnraurq7S0tCAIAhaL5VBFbWqsUTr2c0h5dYiTzWT3fYWxU/9HSO0pHERoKLNHFhYWuHTpEqmpwRFFBoNhW19/p9OJ3W5ndnaW/v5+BEHA4/FgNBoxm80Bpb8pVCstbv3sPKVQnJ7As1WZ/Kh3ji/etfGJtx0P2HaMnYlFNKID5Z6dkpJCamoqJSUlvhqu+fl5RkdH6erqIjk52Sc6Ho9qahVl7Vpay+rqKllZWeE+jKghJjQ0RLiFxpoxE5NzDHnRRmdnJ9PT09TW1ob8go2m1Kn9nOO5uTna2trIzc3l5MmTh765q1IzIQh4nv4D4v7hPaQPfYeJ0ncB1aG1SeBrc7lctLS0oNfrsVgsIYnOKceVlJREUlKSzyFpaWkBYGBggLW1Nd8U44yMDL+nGCsTwkcDKAhX+JX6An7UO8f3Oqf5zTeUkpl09HZew0W0Od3RKjSUlugKW2u4YLNhh9LNqru7G4/HQ1pami/iYTKZNPm9Kc9mLQkNl8sVKwZXkZjQ0BBhFxpxmyketu57rJRXcOXKFeLj40NuO5Y6tT2d5+TJkxQWFobUXrCRS59GKqpHtN4ht+9LcPGZkNsMRGjY7XZaW1vJy8vjxIkTqj40dTodRqORtLQ0ioqKfO017XY7o6OjvinGSprVbukX6aY48lKMTC6t0z21wsUS/9tK1xamcqYgmXbbMl99YOO33lAWrOVFNdHmdCv5+tG0ZvCvvWtcXBy5ubnk5ub6oprz8/O+rnV6vd4X7QjWtHI12ElkRTqx1Cl1iQkNDRFOoSGKIk7dpuOSKqyQd+mSas5YtHWdetym2+2mo6PD1141WOk8oOL0bEHA89QfEveVd5Bp/VfcC6OQVhJik/uvTZZlRkdH6e/v58SJExQVFYX0mPY7FtjeXlOSJBYXF3E4HFitVrq7u33pF+np6aSmpm67Dmvyk5lcWqdzYjkgoQHwUn0hH/1WD19vmuSDlqKAIiIxdibaUqf8qV86igRal7I1qllUVLTtOlcafJhMpm3NIyK1BkJrrW0hNhlcbWJPkggiUms0JElibGwMo27TwU0TXXhU3vGNltSpx20uLy/T0tJCYmIiFosl6MWEaq5RLrbgzLmEafoe+lufxfPWvwipvf2Ehtfrpbu7m7m5OS5cuBDWFpW7XfuiKGI2mzGbzVRUVPjSL+x2O52dnUiStK2Fbk1+Mj98OEfHRGAF4QDXj2dSkp7AqGOVb7ZO8SuXgxM1i3aiyemOVqFx2Kngj1/nbrfbF+3o7e1lfX3dl06Znp4e0IyeUKO1YX0QExpqExMaGiIcDrfL5aKtrW1zfodxsxZDWBpX9RjCkcIE4WknvLUL1OTkJJ2dnSEttldzrgXA3Jlfw/TDe4gd34ArHw1pVGOvta2trfnqIiwWi98pgOF+uD+efrGysoLdbvcNE9OtbaZbtI8v4vV6A9pp1IkCH6gv5E/+uZ8v3h3nxQv5GHTaciAijVhEIzoItrO9dVq5LMvbppUr6ZRbp5WrkcK8G1qboQGb85H8HWob4/DEhIaGUNvhnpmZoaOjg7y8PIqKimj76QgAwsIoyBII6qVOud1uVWw9bjccEQ2Px0NPTw82m42zZ8+SnZ0dMnshb2/7GOtZZ1jIqCPN3oz+9l/gectnQ2ZrN6ExPz9PS0sLWVlZnDp1KuCwf6QIPkEQSE5OJjk5mdLSUjweD7bpOf68uY/pFTff/9HrFGf/rIWuP8Wmbz+dw1++PsrM8gY/6JzhnWdzD7OsGESX0x2tE7JD2dJXEAQSExNJTEyksLDQN6PH4XAwOTlJb28vCQkJ2+Z3HKRr3UHRakTjMN0aYwRGTGhoCLUiGpIk0d/fz9jYGDU1NeTl5bG2toZTb0YWdAieNViZhuS8kB8LRFfqlCRJzMzMYDQasVgsIe+MoTwg1CrgFASBsfIXSbM3I3b8A1z5r5AaurqIx513q9XKw4cPOX78OMXFxRHlBB5291uv11NSkEtF1jgDsy7i86vITPNuKzZVREd6ejoGg+GJz4jTi/zSpQL+50+GeeXOOL9wJgcxgr4jrRGLaEQHajrbW2f0KNPKlTQrZVp5SkrKtjSrUB6b1mo0lAhRLKKhHjGhEUHsd3PW6/Wsr6+H9BjW1tZoa2vD7XZjsVh8F6MoisiCHjmlAGFxDGF+BFkloREtxeDz8/NYrVYMBgP19fWq3LyVB5BaDwtRFFlKPYlUeg1x5Ab6xr/A8/OfCZktxfGRJImenh6mpqYONeBQC9TkJTMw66LPvsFzp0t9xaYLCwu+1Iuuri6fM5KRkbHNGXn3uTz+5tYYQ3Muftpn53pVZphXpF2irQNTNAuNcK1Zr9eTlZXlazO/urrqEx5WqxVgWxvdhISEoB6rFlOnYl2n1CUmNCKMvVIoQp06NTc3R3t7+44pJcq/S6kliItjCAsjyMWWkB3LVo660JBlmbGxMfr6+nwOsFo7RMoDR62dV+X89lz9feJGbiC2fQ0a/iukFITEnizLrK+v09raisfjwWKxROQDJpi1MjX5yXynfXrbhHClRa4yhXx9fd1XVD4+vllztbWo/BfP5/O/blv5343jPHM8I2iOSbTt8EN0Od3K/TKa1gyRlT6UkJBAQkIC+fn5vdHrAQAAIABJREFUyLLsS7OamZmhv78fo9G4bVr5TpHNQIiktftLrBhcXWJCQ0OEKoVIlmUGBgYYGRnZdUaDciPxphajB4T5kaAfx26EM3Uq1LUhXq+Xrq4u7HY7Fy5cYGlpCbvdHlKbW1EcArWEnOJQy0X1SMVXEMduoW/8HJ7n/kdIbHk8HhobG0lLS+PChQuaCvEflJr8zQnhHRPLu+6oG41G8vLyyMvL8zkjdrvdl/N9SpeAQYQ22xIPRue5WJqu9jKOBNEmrKItgqMQyhqNwyAIAikpKaSkpFBaWuqbVu5wOBgeHqazs3PPdtn+oDWhIctybGCfysSEhoYIhcO9vr5Oe3s7q6ur1NfXk5ycvOPrBEFAp9PhSSzCiLpC46hGNJxOJ62trej1ehoaGjAajaysrKi61q01Gmqwtfjcc/X3iPvqLcS2r2xGNZKDW3g8Pz/PysoKx48fp6ysLKIdoGAe2/FsE3E6gaU1D9b5NYrT9y563OqMlJWV+VprPm0d4Ucja/z5P3fwBw2pvmhHYmJiRH+XkUY0fVfRKjTCmToVCI9PK1cimw6Hg66uLrxe77Y0K3+uda3VaLhcLoCY0FCRmNDQEMEWGg6Hg7a2NsxmM+fOndu3U4UoinhSNtuRCo7+oB3HfhzFYvCZmRna29spKCigqqrK5/CrLarCFdEAkIsbkAovI47fRXfvC3if/URQbEiSRF9fHzabjcTERMrLy4PyuaEmWGLPoBM5kZtEu22ZjonlfYXGE+9/1Frzd96czI+/cJ+ueYElIQnsdgYHBzEYDD7REYzUi6NMLKIRHWhtV1/h8cim0+n0pVQq1/rWNro7zXHSWo3G6uoqQCx1SkViQiPC2CtXO1gOtyzLDA8PMzg4SFVVFUVFRX49HHQ6HRupm06bYB9UrcXtUYpobE1TUzp6bUXtdrOCIKg6S2NrgTaCgLfhdxC/8T50LX+P1/LbkHi4FJ2NjQ3a2tpYX1+nqqrKVwwZ6QTbOTudn0y7bZnOiWXeWnOw9sgl6Qm86WQmr/XM8S8jHv6vd9RuS70YGhra1uFGKSqPRkdzN6LN8Y7UFKJQcxTWvXVaeXFxMV6v1zetfGxsjO7ubpKSkralWSmzprS0dpfLhSAIsfa2KhITGhoiGEJjY2ODjo4OVlZWuHTpEqmpqX6/VxRFNkx5yLo4BM8qLFpDOnBtq92jIDQ2NjZob2/H5XLtmqa2zRFXCTW/38dFjVR+HSmnBnG6E13T3+K99t8O/NnLy8s0NzeTnJxMfX098/PzmtlRDrbY21qncRhethRtCo2uGX7zDaXkp8b7Ui8qKytZW1vz7YBarVYEQdhWVG40GoOxHE0TbUIjmtaroJXUqUDQ6XTbGkhsbGz4uln19PTgdrtJTU1FkiTi4+M189srHae0cKxHhZjQ0BCHFRoLCwu0traSkpJCQ0NDwCkPOp0OCRE5vQJhtgdxrh9JBaFxFFKnlpaWaGlpITk5GYvFsut3Hw5RpWZE4wlbgoDX8juI3/lVdA/+Fu+lj4Ax8P7mU1NTdHR0UFZWRkVFheqRmkijJm9TaPRMLeP2Sgee8F2dl8zl0jTujizwxbvj/MHPHdv29/j4ePLz88nPz/cNErPb7dhsNnp6erbtgKalpR16XVoj2s4/rTibwUZru/oHIS4ujpycHHJycnwF1UoL3aWlJRwOh+9aj+RNBpfLFfQWvzH2JiY0NMRBHe6t7VOPHTtGaWnpgS4yxb6cUQmzPQj2Pjj2xoA/J1C0HtGw2Wx0d3dTXl5OeXn5nt99uIRGuCIaAFLVW5HSKxAdg+hav4j38kf8/jxZlunv72d0dJQzZ86Qk5Ozp61IJpjHWpyeQHK8nuU1D/0zTk7l7dzkwR9ethRxd2SBf2yd4teulmBO3F0kK4PEysvLcbvdvmhHd3c3Xq8Xk8mE1+uNqj720eTQHMWdfX84CqlTgSAIAiaTCZPJxPLyMvHx8aSnp+NwOHybDImJids2GdScVr4XTqczau49kUJk/PIxfOx1kz6I0HC73XR2drKwsMCFCxcwm80HPjZljoecUbl5rHZ1CsK1KjS2Dok7d+4cmZn7Dz5Tu0YD1E3X2vE7FXV4638T8Z9/Z7Mo/PzLoI/f97Pcbjft7e04nc5twyUVtCQ0gu2ciYJATV4SjcMLdE4uH0poWMrSOJmbRM/UCl97YOMjT5X69T6DwbBtB9TpdGKz2VhZWeHu3bsYjcZtReWR4ogEE62cf8EiFtGIPpSuU2lpaaSlpfk2Gebn55mfn6e/v5+1tTVSU1O3TSsP13mizNCIxvM0XBy9O/sRRqfTIcuy3ze1paUlWltbSUxM5MqVKzt2jAjUviRJyJlVAAizDw/1eQHbVfkhdpgBiWtra7S0tCDLMg0NDX4XnoWjRiPcEQ0AqeYF5Bv/N8LyBGLH15HO/cqen7OyskJLSwsJCQm7pqKFSmiE6nOD/Zk1+cmbQmNimffUHfxzBEHgZUsRv//tHr76YIKX6otIjAusnaVSaJqTk4Pdbufy5cu+fO+BgYFtjkhGRgZJSUlHxhE4Kuvwh2gWGlpq8RpMdlq70rkuO3uzEcXq6qqvje7Y2BjAtm5WahZmr66uxgrBVSYmNDSEcjHv105OlmXGx8d5+PChX+k6gdj3er3I2acAEGZ7VOk8paxV7Zv5QSMadrudtrY2srOzOXnyZEDHHI7ojZriZlcnXReH9/JH0P/ov6O7+wWks78E4s7fm9IauKioiOPHj+96bkdzRAPgdH4KcPiCcIA3ncikyByPdX6Nb7VO8v5LTw71DASdTkdmZqYvyre6uordbsfhcDA6Ooooir5ox25tNbVAtDne0bZeBUmSorbNsz/tbRMSEigoKKCgoABZln01HdPT0/T19flSr5Q0q1B+l06nMzZDQ2ViQiPC2C91CjYv7N0uRI/HQ3d3N3Nzc9TV1fkG8wQDxQmW08uR9fEIbhfMj0B6aOcUaEVoyLLMyMgIAwMDnDhxgqKiopDbDAaRENEA8J59Ed3NzyDODyH2/wtS1du2/V2WZYaGhhgaGtqxNXAgtiKRoEc08jZTyQZnXTjXPZiMB7/d60SBD9QX8cl/6efv7ozz3vP5By4w34mEhAQKCwspLCxEkiRfW02r1Up3d/ehpxeHCy2df8EgWoVGtK4bAk8bEwTBV8tVVlaGx+PxtcweHBxkdXV12/WekpIS1OtdSZ2KoR4xoaEhRFFEEIRd03lWVlZobW3FYDDQ0NBAfPz+ee6B4KsREfXImScQploRZ7qQVBIaewmsUKCkqvmDx+Oho6ODxcXFgNsGb+Wo12jsub64JLx1H0B/+3+iu/OXSMffCo8e3lu/38uXL5OSkuKXLa04eqE41qxkIznJcUwvb9A9tcLFksN1fXrHmRy+cGOUmeUNvtcxzfO1ewu9gyKKImazGbPZTEVFBRsbG76i8s7OTiRJ2tZCN9LTIKLJAY22omiFaK/ROMza9Xr9tuim0jJ7fn6ejo4O3/Wu1HIdtr4imhpRRAoxoaExlHqFx5mYmKCrq4uSkhKOHTsWkpve1poFOacaploRprvgxNuDbutxu+FywP2p0VDqBeLj42loaDhUmsdRr9HYb33eCx9Ed/fziBNNCON3kYvqcblcNDc3ExcXF9D3qyWhAaHZ/T6dn8J07xydE8uHFhpxepFfqS/kMz8a4n/dtvKOM7noxNA70XFxceTm5pKbm4ssy6ysrGC3231pFwkJCb7dT7PZHFG58lo6/4JBtO7sR7vQCOY1t7VltnK9OxwOZmdnGRgYwGAwbLveA33exoSG+sSEhsbQ6XR4PB7ff3u9Xnp6epienqa2tpasrKyQ2t7Y2ABAyq5GBwgzXSGzt5VITSlS5jeUlJRQWVl56Ies4oir+cCOiBoNBVM20un3oGv9Ero7f8lUwjHa2trIz8+nqqoq4BC9Vhy9UP3WNfnJ/Kh3Lih1GgDvPpfH394aY2x+jdd6Znlz9cGmjh8UQRBITk4mOTmZ0tJSPB6Pr6i8r6+P9fV10tLSfNEOk8kUdsc33PbVJNbeNvrwp0bjoGy93ktKSvB6vSwsLDA/P8/o6ChdXV0kJyf7Ih5paWn7HkssdUp9YkIjwtjvJr01ouFyuWhpaUEUxYA6Gx2Urbbl7GoARJWERjiG9u3V7UqSJPr7+7FarU/MbzgM4ahHCUeNxl5CynvpI4itX0Y38G/0G79HVd2bKCw8WPGxVoQGhCqiEZwJ4QqJcTr+88UC/vL1Uf7mtpWfP5UVVsdSr9eTlZVFVlYWsixvKyofGhpCr9dvKypXu2BXS+dfMIjmiEY0rhvUjebodDoyMjJ8tadKWqXD4aC7uxuPx0NaWprvet9po8HlcsWKwVUmOiW4hlEc7qmpKW7fvk16ejqXL19WJU95q7OvCA1haRxcjpDbDlc3JnjSWVhfX+fBgwfMzs5isViCJjK22lRzrWpHNPbDk1bKQs4VAC577x9YZIQjDe2ghMpJqc5LQgCmltaZXV4Pyme+70I+iXE6+mecvD4Q2LUfyt9DEAQSExMpKiri7NmzPPXUU5w6dQqDwcDIyAg3btzgwYMHDA0Nsbi4qMo1Fm2Od7StVyHaU6fCtXYlrfLUqVNcuXKFCxcukJGRwfz8PA8ePODWrVt0dXXx2muvMTo6CvxsMvhh+cEPfuDzvTIzM3n++ed3fJ3dbqewsBBBEFhYWNj2t46ODp5++mlfV65PfvKTmnlmBUIsoqExRFFkbGyMhYUFampqyM3NVdW27+Ecn4JkLkecH0KYakUuvx5y22pHNLY6/cq/Lyws0NraSlpaGnV1dUEfMhYOoaF2jQbsHrFZXV2lpaWFtIJfwDx9k/j+77Hh/ASYDpYSqKWbdiiO1WTUcyzbRP+Mk3bbMs+eMB76M1MTDPzi+TxeaRznr2+N8dSx9Ih0LkVR9O1sHjt2jPX1dV9R+fj4OMC2ovJgN89QiMTvJlREq9CI5tSpSJkhoszqSUpKoqioaFv3us9//vP89Kc/pbi4mIKCAuBwtRrf+ta3+NCHPsSf/dmfcf36dWRZpqOjY8fXfvCDH+TMmTPYbLZt/39paYk3velNPPPMM9y/f5++vj5eeuklTCYTv/u7v3ug44pUovPK0Cirq6s4nU5WVlZoaGhQVWTAk+lLcl4tAOJkqyq2wxXRUNKnxsbGuH//PqWlpZw9ezYkk4yVh7SaDnI4Iho72XM4HDQ2NpKSksKJN74fKa8OwbuOruWLB7K1W0QqEgmlc3a2YDN9qs22FLTP/OVLhcTpBNptyzwYWwza54YSo9FIXl4eNTU1XLt2jdraWpKSkpicnKSxsZG7d+/S39+P3W4P2qaGFs69YBKtQiNaU6cCGSCsNkr3uoqKCr7zne/Q29vLRz/6UZxOJ9///vcxm81cv36dT33qUzQ1NfntX3g8Hn77t3+bT3/603z4wx/m+PHjVFVV8cILLzzx2i984QssLCzwe7/3e0/87Stf+Qpra2v83d/9HTU1NTz//PN87GMf47Of/eyRu29E3tkR5ex2s5qdneX27dvo9XpKSkrCUsz0pNA4B4CggtAIZ+qU2+2mo6ODgYEBzp8/T2lpacgeKoIgqN5hS+0aDdjugCkirqmpiWPHjlFdXY2o0+G9+CEAdM2vgHfjwDa1ctMO1XGeKdhsBRxMoZGZFOdrb/vXt8aC9rlqIQgCKSkplJWVcf78ea5everr6f/w4UNu3LhBa2srVqsVp9N5qN8mmhzQaN3Zj1RnO9Qozw0trD0nJ4eXXnqJtLQ0/vRP/5TOzk5eeOEF7t69y/Xr18nOzuZTn/rUvp/T3NyMzWZDFEXOnTtHXl4eb37zm+nq2l6v2t3dzSc/+Um++MUv7vj9NDY28vTTT2M0/izK/NxzzzExMcHIyMih1xtJxFKnIhxJkhgYGGB0dJTq6mpmZ2fD5jg97uxLeWc3//9kiyq21U6dUhyE5ubmkM0m2Qm1RVU4IxqSJNHd3c3MzAznz58nPT3d91rpxNuRf/IJhJUpxJ5/Qqp5csfIH1uhQEs7t2cfCY3uyRXcXilog/Y+YCnkmy2T3BleoMO2xOmC/WebRCoGg4Hs7Gyys7ORZRmXy4XdbsdutzM4OIjBYPClWJnNZr+LyrV0ngSDaFuvQkxoaGftq6urmEwmKisrqays5CMf+Qgej4d79+75de4ODQ0B8Cd/8id89rOfpbS0lD//8z/n6aefpq+vj/T0dNbX13nf+97Hpz/9aYqLi33v2crU1BSlpaXb/p9S7zk1NUVZWdnhFxshaOfsiELW1ta4f/8+MzMzWCwW8vPzw9J9SeGJiEbOaWRBRFiZhuXJkNtWO6IxOzsLQEpKCpcuXVJFZID6QiMcEQ1JklhbW+PevXssLS1hsVi2iQwAdHF46z6w+a/3/xoCFENbbUU6oWzFW5qRQHK8njWPRN+MM2ifm58az1tqNtvb/u1ta9A+N9wIgoDJZKK4uJja2lquXbvGiRMn0Ol0DA0NcfPmTZqamhgeHmZpaUkzETM1iOYUIi0528FCubdGQo2Gv+zUdUqv1/Paa6/R0NDgyyrY6Z8HDx741vzxj3+cd73rXZw/f55XXnkFQRB49dVXAfjDP/xDTp48yS/90i/teSyPXyvKveSoXUOxiEaEoZxgdrudtrY2MjMzOX/+vK8eIJxC44moQpwJObMKYbYHcbIFKTk0k4IV22o5jLIsMzg4yPDwMDqdjrKyMlUfImrPfwhHRGNxcZHu7m4yMjKorq7e9UHlPfd+dLc+izjVimC7j1x4KWBb0Y4oCJzJT+bW0Dxt40tU5yUH7bM/aCnie+3T/KTPzsCsk2NZR69t5NaWmpWVlb7JxXa7HavViiAIvqLz9PT0bakQ0bbDH23rVYhWgeX1en1OuBZQWmDvlHr+G7/xG7z3ve/d8/2lpaUsL2+2Cj916pTv/xuNRsrLyxkb20wj/clPfkJHRwff/OY3fXYBMjMz+fjHP84nPvEJcnNzmZqa2vb5MzMzADt2sszKymJubm7P43vppZd45ZVX9nxNOIgJjQhDlmUGBgYYHh7mxIkTvrZoCqIobhvYpyY7RRXk/DqY7UGwNcHxt4TMtlqpU263m/b2dlZWVrh8+XJARWLBIhoiGm1tbVRWVu5f75KYiVTzArq2r6B78Dd4DiA0tLDjHGpxebYghVtD87RPLPNiED+3PDORN57I5IcP5/jb21Y+9Y4TQfz0yGTr5GJJklheXsZut2Oz2ejp6SEpKcknOrQQTQsm0So0ojmiobV17zZHIzMzk8zMzH3ff/78eYxGI729vVy9ehXY9BtGRkYoKSkBNrtSra6u+t5z//59Xn75ZW7cuEFFRQUAFouFj33sY2xsbPimm7/22mvk5+c/kVLl9Xr53ve+t+PxjI6O8vLLLyNJEh/4wAf2/wLCQExoRBgej4eFhQUuX75MSsqTOc96vZ719eD0ww+UnaIpUsEFdG1fQbQ9IJQyQI3UqeXlZVpaWjCZTDQ0NGAwGMJWhH4UazQkSaK3txfY3A3ydz6G98KHNs+xh9+HJRukFPj1Pq0JjVBytvBR56nx4BWEK/xqQxE/fDjHv3TN8OtPlVBkDv1Mn0hBFEVSU1NJTU2lvLwct9vti3Z0d3cjSRJ9fX1kZ2eTnp5+5CcSR6vQ0KLDHQwipbVtIBymrS1splJ/+MMf5o//+I8pKiqipKSET3/60wC8+93vBvCJCQUlEnHy5EnS0tIAePHFF/nEJz7BSy+9xMc+9jH6+/v5sz/7M/7oj/7oiWtIp9NRX1//xLFYrVZefPFFvF4v3/3ud3nqqacOvK5QEhMaEYbBYODixYu7OkfhrtF4fFK2ksoiTLZsdgbSxYXEdqid74mJCbq6uigrK6OiosK3vmgQGmpENDY2NmhtbWVjYwNRFH03W3+Qs08hlVxFHL2Jrul/433m//TrfVoSGqGmJn9z02J8YQ27c4MMU/Cu01N5yVwpN3NraJ5XGsf5o7dUBu2ztYbBYCAnJ4ecnBxkWeanP/0pycnJzM7O0t/fj9Fo3FZUHooW2eEkmoVGNK7b6/VqTmApxeCH4dOf/jR6vZ73v//9rK6ucvnyZX7yk59gNpv9/ozU1FR++MMf8uu//utcuHABs9nMRz/6UT760Y/69X6bzcYzzzzDxMQE3/72t3nuuecOupyQc7TuclFAOLovbbUN23cx5PQK5Hgzwto8wnTnZipViGyHYt2SJPHw4UMmJyepra0lK2v7YLhwCI1w1GiE8pxaWlqiubmZ1NRU6urq+I//+I+A1+e9+F82hUbrl/Be/V0w7L8jpSWhEerfPCVeT0VmIoNzLtptyzxzPCOon/+hK8XcGprnO+1TfPhaMdnJhx8MqHWU3PWCggISExPxer3Mz8/jcDgYGBhgbW2N1NRU0tPTycjIICkpSfPOajSmEGmx81Kw0Fokx+v1sr6+fujIosFg4DOf+Qyf+cxn/Hr9G97whh3v76dPn+b1118P2P7ExATPPPMMVquVb33rW7z5zW8O+DPURDtnSAxgM3UqnBENYLt9QUQqvAiAOH4/pLaD7fArXY/m5+exWCxPiAyInohGqJzcyclJ7t69S1FREbW1tej1+gNFUKSKNyGnlSCsLSB2ftOv92hJaKjBmUeD+9qDOE9D4XxxKnVFKbi9Mn9/dzzon69Vtp57Op2OzMxMjh8/jsViob6+nuzsbJ8Qv3XrFt3d3UxNTbGxcfC5MeEkGiMaym+sJYc7WGhNaDidm133kpKSwnwkB2dqaorr168zMjLCq6++ytve9rZwH9K+aOcMiSL2ulFHQkTjcftywabQEGz3Qmo7mOt2OBzcvn2bxMRE6uvrd93hiAahEQp7sizT29tLV1cXZ8+e3ZaOdiBhI+rwnv9VAHQP/sbvVrfBFlGhns0RSs6GYHDfVj50pRiAV5snmXe5Q2JDi+x2ziQkJFBYWMiZM2e4du0a1dXVGI1GrFYrN2/e5P79+wwODjI/P6+ZovJoFBrKbxNt6wbt1WgoBdparZWanp7m+vXrDA0N8Y1vfINf+IVfCPch+UUsdUpjhLNGQxCEHZ3SbRENWYYQ3HCDFdGQZZnR0VH6+/upqqqiqKgo4oSd1ms03G43bW1trK6uUl9f/8Tu0UGdf+/ZF9Hd+B+Ic70II/+BXPaGfd8TimhNKBwKNZyUs4WbQqNzYhmPJKMXg2vzSrmZk7lJ9Eyt8OV7Nn7zDaU7vi6aHDJ/HW9RFDGbzZjNZioqKtjY2PAVlXd2diJJEmaz2VffkZAQmQX30VirEM2pU1qr0XC5XOj1+m0tqLXC7Owszz77LP39/Xz961/nne98Z7gPyW+0c4bEAMIrNHazL+fVIot6hJUpWBgNid1gON8ej4e2tjaGh4e5ePEixcXF+z4UoyWiESxnfGVlhcbGRgRB2FFkwCGEjTEZ75n3AaC7/zd+vUXtepfDEOrjLM9MJMmoY9UtMRDEwX0KgiDwXx5FNb76wMbSWnjacEcKh/k94+LiyM3Npbq6mqtXr1JXV0dKSgrT09PcuXOHO3fu0NfXx9zcXFifB48TjRGNozpkzR+0ljrlcrlISEjQ3G81NzfH9evX6e3t5atf/SrPP/98uA8pILRzhkQRe10E4RYaO+7wGxKR885t/t3aqJ7dAHA6ndy5c4eNjQ0aGhr87noUrmJwLUY0pqenaWxsJDc3l7q6OgwGw672DuqEec9/EBkB3eAPERxD+75eK0JDjQefKAiczg9dnQbA9aoMjmUlsrLu5av3bSGxoTUO+9sKgkBycjKlpaXU1dVx7do1KioqkGWZvr4+Xn/9dVpaWhgbG2NlZSWs53s0Cg3F2Y62dYM2hYbW0qbsdjtvfOMb6enp4ctf/rKvha6WiKVOaYxwC43dUpik4gZE233EsdtIj3ad1bDrD9PT03R0dFBUVERlZWVAN0Y15nc8jpqTuoNhb+sk9dOnT5Obmxs6e+nlSBVvRDf4Q8SWv8f77Cf2fLlWhAaoU7R+piCFxuEF2mxLvOd8ftA/X3wU1fhv33nIl+7ZeP+lAkzG6HzMhGqnW6/Xk5WVRVZWlm/Ssd1ux+FwMDQ0hF6v96VYpaen7yr4Q0G0Co1oW7OC1+vVXI2GloSG0+nkTW96E21tbfzWb/0WJSUl3Llz54nXJSUlUVNTE4Yj9I/ofAJomJ1mWahtfyehIxU3QONfII7dDondg0QWZFmmv7+f0dFRvxzgYNk9LFrqOuXxeGhvb2d5eZn6+nqSk5NDag9AqnsJ3eAP0bX/A96n/xD08SGzpRZqXcs/KwhfDpmNnzuZxedvjDJiX+VrTRP8akNxyGxFMmqcd4IgkJiYSGJiIkVFRUiSxMLCAg6Hg5GREbq6ukhJSfG10E1OTg7pDnQ0Co1obOmroLWIhtPp1FTqVGNjIy0tLQB87nOf43Of+9yOr3vve9/L1772NTUPLSBiQkNjbG0xG45hT7s5wXLhxc06jUUrLIxBWnCdi0BTpzY2Nmhra2NtbQ2LxXLgdnbRIDQOas/pdNLS0oLRaMRisRAX598QuEMLjfLryCmFCEvjiA+/h1SzeyhZK8XgoFZEY1MIjjpWWXC5SUsM/m63ThT4UEMxH/9eL1+8a+PFCwUkxmln1zPYqOnUiKLoi2QcO3aM9fV1X1H5+Phm22Hl7+np6cTH7y7SD0I0Ot1ac7aDidbWrrWIxhvf+EZNbJTth3bOkChivxoNeLLFrFrsmroVl4ScexYgJFGNQFKYFhcXuX37Nnq9/lAiA2I1GrsxOztLY2MjmZmZnD9/3m+Rodg71M1T1OGtfT8Aupa/D62tHQjFjV8tZzQ1wUBpxmbHolDVaQC8pSabwrR45l1uXm2ZDJmdSCYSHASj0UheXh41NTVcu3aN2tpaTCYTk5OTNDY2cvfuXfr7+7Hb7UF5pkRjRCPy4CI9AAAgAElEQVSaU6e0JjScTuehp4LHCBztnCExgN1nWajFXjUiUskVIDQF4f46/FarlXv37lFSUuIbEKeG3WASyTUasiwzNDREa2srp06d4sSJEwE/aILxnXrPvogs6hHH7yHMdO/52khw+PxBreM8o0L6lF4U+NCVIgD+rnGcNXfkdEZSm0hxQgVBICUlhbKyMs6fP8/Vq1cpKyvD4/Hw8OFDbty4QWtrK1arFafTeaDzMRqdbq0528FEizUakdoa+igTnVeHhhEEIawF4XulMEnFDZuvGb3p90C1YNiFzRteZ2cn/f391NXVUVZWFpQHXjSkTvm76+/1emlra2NsbIxLly6Rn3+wYuKgRBmScpCOvxkAXcsXQ2tLBdR0zs4+Sp8K1eA+hbefziEvxcicc4N/bJ0CtCP6gkGkr9VgMJCdnc3JkydpaGjg4sWLpKenY7fbuX//Prdv3+bhw4fMzMzg8fjXqjgaIxrRmC6moDWRpcWuU0cB7ZwhMXyEU2jslcIkF15GFg2bdRrzw6rZXV1d5e7duywvL2OxWMjIyAia3WgRGvvZc7lc3Llzh/X1dSwWC6mpqYeyFwwnzHvuVwAQO78BGyshtaUGah2nUhDeObGMVwqdTYNO5IMNm1GN/91oZcOjjenWwUYLjrcgCJhMJoqLi6mtreXatWucOHECnU7H0NAQN27coKmpieHhYZaWlnY9V6NRaERjFEdBi0IjljqlPrFi8Ahkv5tWuIXGrrbjTMiFFxHGbiOOvI6UXh40u7s533Nzc7S1tZGbm8vJkyeDftOLhhqN/VKn7HY7ra2t5OXlHShV6nGCtT655CqSuRxxfgix+ztItb+0oy0tCA01HZVjWSYSDCLODS+Dcy6OZ4fuwfvOs7n89c0xppc3+E77FG8sDW7xcSSj5UFuOp2OjIwMMjIyqKysZG1tzVdUbrVaEQRhW1G5Mmk5WoWGlpztYCJJkqZSp2IRjfAQnVeHxonU1CkAqfTpzdeN/EfQ7cqy7HNQldkNLS0tVFVVUV1dHZKbfbTUaOzYSUyWGR0dpbm5mePHj3Pq1KmgfMdBc/4FEencLwO7F4VrRWiAehENnRj6wX0KRr3IByyPohq3rXi82vgtgoFWzjt/iI+PJz8/n9OnT3P16lXOnDlDQkICNpuNW7duce/ePQYGBnC73Udq3f4QzalTXq9XU2vXWtepo4J2zpAYPsIxRM5f21LpU8CjOg0peGJI2TWRJAm3201LSwvj4+NcvnyZwsLCoNl5nGhJnXrcOVBqXoaGhrhw4QJFRUVBsxdMIeU9/YvIOiPiVBvCZOsTf9fK7qrax+mbpzEeWqEB8K5zuaSbDNgW13mtfyHk9iINrZyD/iKKIqmpqZSXl3PhwgWuXr1KSUkJGxsbrK+v09PTQ1tbG+Pj47hcrnAfbsiJ9oiGltYeS50KD9o5Q6IIf1Kn/C3OCzb7RVPkvFpkYwrC2iLCVFvQ7Co3s6WlJRobG5EkCYvFQkpKStBs7GY3GoTGVntra2vcu3ePlZUVLBYLZrM56PaCtuuZmIF04u3AzlGNWERjZ84Wbl43rSGOaAAkGHS8dHlzM+DLzbMhrQuJJLRy3h2WuLg4cnJyOHXqFPHx8VRWVpKWlsbs7Cx3797l9u3b9Pb2Mjs7G7bnViiJ1Whox42MdZ0KD9o5Q2L4CGdEY18nWNQhlVzd/Nfh4KVPKTezpqYm8vLyAp7dcBi70VSjMT8/T2NjI0lJSVy6dCnoA70g+M6/t+5RUXj3t2FtMaS2lM8MNmo7KrWPhMaIfZV5lzvk9n7xfD5pCXpsixs8mIkOB1zLNRoHRZZlEhMTKSkp4dy5czz11FMcP34cQRAYGBjgxo0bNDc3MzIywvLy8pEQY9GcOqW1Go3V1dVDzdWKcTCi8+rQOBFbDP4IqexRncbwT4NiU5IkHj58CEBVVRWVlZWqPbyjoUZDETZWq5UHDx5QXl5OTU1NyB4gwXb+5YJLSFknEdwuxM5vhtRWKFHzOFMTDJRnbuYqt6qQPpUYp+OXH0U1fjDijZqoRjSJDHiyGFyn05GZmcnx48exWCzU19eTnZ3N0tISzc3N3Lp1i+7ubqamptjY2AjjkR+caI5oaK1Gw+l0xiIaYUA7Z0gMH5FcDA4glT0DgGC7D+uHGwq2vr7O/fv3cTgc6HS6oKfx7Ic/6w2FTbXFjSRJ9PX1UVdXR0lJSUgfnEFfnyDg3VoUvsVh14rQCIejcu5RVKPFurjPK4PD+y7kkxQnMuWCHz6cU8VmONHCeRds9us6lZCQQGFhIWfOnOHatWtUV1djNBqxWq3cvHmT+/fvMzg4yMLCQtii9oGitfShYKK1ta+ursZqNMKAds6QKEKz7W0VzKVI6RUIkudQ3afm5+e5ffs28fHx1NfXo9fro8LpV9Pm+vo6HR0dAEGfQbIboXD+pep3IxsSEeceIozfDamtUIkCtR1TJX2qRYWIBkCSUc8LZzbPr7++NYYUBY54tO10B9LeVhRFzGYzFRUVXLx4katXr1JUVMTa2hodHR3cuHGD9vZ2bDYbq6urIT7yg6M1ZzuYaG3tsa5T4UE7Z0gMH+EWGv44wVL5swCIgz8O2IbSVlVJ4zlz5gw6nS4q0phAvRqNxcVFGhsbfT3wQ1GPsRMhiTLEpyCd+k8A6Nq+ElpbISAcDmld0ebQxa7JZdZVGqb3wplM4nXQP+Pk3/vsqtgMF1o474LNYeZoxMXFkZubS3V1NVevXqWuro6UlBSmp6e5c+cOd+7coa+vj7m5ubA9/3YiWms0lHbzWqnRkGU51nUqTETf1aER9rpZh1to+GNbqrgOgDj0k22pLPvh8Xhob2/3tVXdmsYTjjSmcHzXagiqiYkJ7t27R3FxMdXV1QCqibhQOf/eMy8CID78HqyvhNTWUaDIHE+6yYDbK9M9ebgUR39JNup4pnDzsfNXN8eO/G8TjRGNYM3aSU5OprS0lLq6Oq5du0ZFRQWyLNPX18frr79OS0sLY2NjrKyshPU8itYaDeV5oSWRFRvYFx5ik8E1SLhrNPxxSOXiBmR9AsLyJMJsN3J29b7vcTqdtLS0YDAYaGho8O20K4Sj25baHaAgtFEUpRZjfHyc2tpasrKyfC0n1XpYh+o7lQsuIKUfQ3QMID78LtLZ/6wZoRGO4xQEgXOFKfy4107L+BLnHkU4Qs2binX8dAJ6pla4MeDgqcrQp+uFg2ickh2qNev1erKyssjKykKWZVZXV7Hb7TgcDoaGhtDr9WRkZPgmlRsMhqAfw25IkqSqvUhBq0IjFtFQH+2cITF8aCGigT7+Z21u/UifmpmZobGxkYyMDC5evPiEyIDw1ktEwqTuw7KxsUFTUxNzc3NYLBaysrJ89kD7EQ0EAens+wDQtX01ZLZkWdaEePGHc4Wb4qLFqk6dBkBynMAvns8H4As3jm5U46iuay/UEFeCIJCYmEhRURFnz57lqaee4tSpUxgMBkZGRrhx4wYPHjxgaGiIxcXFkN/XojV1SotCI1ajER60c4ZEGZGaOhVI+pIvfWoPoSHLMv39/bS1tVFdXc3Jkyd3vXGFK3UK1HUaQiE0lpeXaWxsRKfTUV9fv21XRznX1FpjKCM23pr3IAs6RNt9BPtASITGysoK8/PzQf+NwuGY1hY9mhBuW1LV/kv1hcTrRTonl7kxOK+aXbWJpoiGIsDVXrMoiqSnp3Ps2DEuX77MlStXKCgowOVy0dbWxs2bN+ns7GRiYoK1tbWg29daQXSw8Hq9CIKgmbW73W48Hk8sohEGYqlTGiTcEQ1lh3+/B4pU8UbgDxHG78HqPCRsb027sbFBe3s7LpeL+vp6kpOT/bKtJlt3+9W6oQY7tWhqaoqOjg7KysqoqKh44ndT/lvzEQ2ApBykimfRDbyG2P41BPPbg2rLZrPR1dXl64BmNpvJyMggIyPjUMX04UrxOpWbhFEvMu9yM+JYpSxDnd2+DFMc772Qz9/dGecLr49yrcJ85JzyaItoRMqAQqPRSF5eHnl5eciyzPLyMna7ncnJSXp7e0lMTPSlWKWlpR26mDmaazS0IjJgc4MIiAmNMBATGhok3EID/JwImlaClHUScbYHcfDHSDUv+P60uLhIa2srycnJWCwWv3Jcw5U6Beo54YrNYDgpsiwzMDDAyMgIZ86cIScnJ+Q2/SHUTrV05r3oBl5D1/kNuPKWoH2XfX19WK1Wzp49S3Jysi9PfGpqir6+PhITE32iIzU1VRMPYYNOpDoviWbrEq3WJdWEBmxGNf7hwYQvqvHUsXTVbKtFNDmgkSI0tiIIAikpKaSkpFBWVobb7WZ+fh673c7Dhw9xu92kpaX56jsSExMDPv5oTp3S0rqVFsmx1Cn1iQkNDRKOFKKttmEzbOrPTpBU+dym0Bj4N5/QGB8fp6enh/LycsrLywPqux6ODlCgvtDwN2q0G263m/b2dpxOp1/RIjWL3kNtSzr2c8gJGQgr05jtTXhSnz3U53k8Htra2nzfZXx8PG63m+TkZF9nHMWBmZubo6urC6/XS3p6uk947FRztJVwOmfnilJpti7RbF3kP9XmqmY3wxTHL57P5+/vjvP/3Th6UY1YRCPyMBgMZGdnk52d7Wt3arfbsdvtDA4OYjAYthWV6/X7u0ixiIY2WF1dJS4uzq/fNEZwiX3jEcpeN65wDK5T2BrR8Afp2HNw+//ZjGi41+jpG2Rqaopz586RmZkZsO1wdJ1Su/OUcvM+qNBYWVmhpaWFhISEgKJFR6FGAwBdHN6aF9Df/ysyx/+NybLrB/4ol8tFc3MzRqPR910qXbq28rgDs7Ky8kS6xl7RjnB2x1ImhLeqNLhvKy/VF/L1pgk6Jpa5OTjPtSMW1YgmB1QLQmMrgiBgMpkwmUwUFxfj9XpZWFjwdbLq6uoiJSXFt2GQnJy849q05nAHC383GyMFp9N5oIhVjMMTExoaJJwRDaX4y1/7cv45ZFMWgnOWvtdeYdF8loaGBhISEgK2HY7UqXDY3VozEegDbGZmhvb2doqKijh+/LjfN1W1IxqhdqqlM++D+39F2nQj02uOA32Gw+GgpaWFvLw8Tpw44fdvocwA2BrtcDgc2O12Ojs7kSQpoGhHqFEmhI84VnE4N0g3xalmOzPpZ1GNL9wY5eoRimpEa0RDq063TqfzXZOVlZWsra35rlur1YogCL5IR3p6uu+6jVahobV1x2ZohI+Y0NAgSo1GuPq0BxRZEERchU9h6v0WecutVP78fznwLki4BJbaQmNrRMNfZFlmaGiIoaEhampqyMvLC9jmUanRAJCzTyHlnkWcaiN19DWouRTQ+5X0vqqqKoqLiw91LAaDgZycHHJycrYVp05MTNDb24vJZCIpKQmv1xuWh3dqgoGKzEQG51y0ji9xvSqwSONhOapRjWibo6G1iMZ+xMfHk5+fT35+PpIksbS0hMPhwGaz0dPTQ1JSEunp6bjd7nAfaljQmtCItbYNHzGhoUECKsgOAf46/LIsMzIywrK3hItAluMBG4e4Mel0uh3TVkJNuISGvzY9Hg8dHR0sLi5y+fJlUlJSArZ5lGo0FLxn3os41YZ55Psgfxz8cIBkWaa3txebzUZdXR0ZGU8OkzuMI7VTcardbmd6ehqPx8PNmzd9O6ZqRjtqC1PCJjQyk+J4z/k8vnjXduSiGkdlHf6gXNNHcc2iKJKWlkZaWhrl5eVsbGz4isrX19fp7u5mcnJyW1H5USdc/sdBcTqdJCQkHMnzM9LRjhyNMvabowFE9NA+j8dDa2sro6OjlDzz0uaU8EUrwkznge1GY+rUfrhcLu7cuYPb7aahoeFAIgOOXkQDQDr1PJJoIGFpCGGqfd/Xu91umpqamJ2dpb6+fkeREWwMBgO5ubmUlZWh1+upra3FZDIxMTHBrVu3uHfvHoODgywsLIT0HDz3aJ5GS4jrNHb73T9QX0S8XqRjYplbQ0djrkY0pk5FixMXFxdHTk4Op06dIi4ujuPHj5OWlsbs7Cx3797l9u3b9Pb2Mjs7G5bNMTXwer2xiEYMv4hFNDRIuIXGfhENpRg5Pj6ehoYG4uLikMrfgK7vXxB7f4A353RI7IaKcAgNf3b95+bmaGtrIz8/n6qqqkPd9NWMaKgmahLMLOZdw2z7Cbr2r+HJO7vrS10uF01NTSQkJFBfX+9XAX0wUX7zrdGOjY0NX454R0cHsixvq+2IiwteLYUyIbxrcpl1j4RRr64DsS2q8fooV8qPRlTjKKzBX6JJaDyOyWQiNTWVkpISvF4v8/PzOBwOBgYGWFtbIzU11XftJiUlHYnvSWupU7EajfARExoaJNCC7GCzV42GMhyupKSEysrKn+3OH3/rI6Hxz3if+oOg2w0l4ZrfsZszLssyo6Oj9Pf3c/LkSQoLC0NqL9io2WHJUfIWzLafIHZ/C579E9A/OVTPbrfT2trqt2ALlZPw+HcSFxdHbm4uubm5vtqOubk5X454cnKyT3SkpKQc6riKzPGkmww4nG66J5c5V5R62OUEzAfqi/hG0yTtj6IaVyu0XasRbY53tK1X4fH2tjqdjszMTF9XRWXejsPhYHR0FJ1Ot62oPJgbBmoSExox/CUmNCKU/W7Y4R7a97htSZLo6+tjfHx8x+FwUuVzyKIece4hgn0AOeNYwHajJXVqL5ter5euri7sdjsXL14kLS0tKPbUdP7VtOXMucBGfBZxa7OIff+KdOqd2/5utVp5+PBh0ATbQdnvet8a7VByxJVoR1tbG8Choh2CIHCuMIUf99ppGV8Ki9A4alGNWOpUdLCfw52QkEBhYSGFhYVIksTi4iIOhwOr1Up3dzfJycm+azclJUUzzrvW2tvGUqfCR0xoaJRwCo3Hoynr6+u0tbWxsbGBxWLBZDI9+ab4VOSSawjD/76ZPtXw24e2qxaRIjRWV1dpaWlBFEUsFgvx8U/uzgfTXqhQVdSIeuxFz5HX/2XEzld9QkOSJB4+fMjk5CTnz58nPT2w3fNQOFSBfCePRzuWlpaw2+2+blkHiXacK0rlx712mscWedlSdJilHJgP1Bfx9UdRjdtD81zReFQjmhzvaJ2QHci6RVHEbDZjNpupqKh4Ij1SaX2t/HOQNvBqocWIxo6+SYyQExMaGiXcEQ3FKV1YWKClpQWz2UxdXd2eUze9VW9FPITQCGfqlNrf9eM1Ew6Hg9bWVrKzszl16lTQb/Bq12ioKWocBc9uCo3hfwfXHG5DKq2trayvr2OxWCJil+uwnaxSU1NJTU31RTuUacfj4+O+/v9KR5zdoh3nH0UxmseXkGQZMQxOcmZSHO+py+NL92x8/sYoDRqOasQiGkcfWZYPNRn88Q0DZdDn9PQ0fX19JCQk+ESH2WyOqAiC1rpOuVyuiBZuR5mY0NAo4RYaHo+HsbExent7qayspKSkZN+brXT855H/9fcRp1phcRxSA0tVibbUKcVRUb7nqqoqioqKQvIwP6o1GoIgsJpU7Jup4Wl9lUZPNSaTifr6+j2FsdoE6zuJi4sjLy+PvLw8JEnyze1QUjWUaceZmZnbph2fyE0iwSCyvOahf8ZJVU5SUI4nUF62FPGN5knabdqPakST430Yh1urBHNI4eODPj0ej6+ovK+vj42NDVJTU30bBiaTKazftyRJqjfNOAwul0uVToIxniRynrIxthHJNRqCIDA9Pc36+npgaSembOSiegRrI7reH+C99GsB2Y221CmPx0NnZyczMzMHSu8JhKM2GfxxW1L1uxCn2th48CVynnsloKnpahCqYxFFcVu0Y3193Zeq0draui3akZGRwbmiVG4PzdM0thgyobHfWo9KVCMW0Tj6hHIaul6vJysri6ysLGRZ3lZUPjQ0hMFg2JZmpbbTr7UaDZfLdejhqzEORkxoaJRwCQ2Xy8XMzAyiKNLQ0BBwnYBU9TZEayPiw+8GLDTClToVLrt9fX3odDosFkvIQ75HOaIhyzKjKRcpR8DsHCAxO86v4X1qo8Z3YjQat0U7lNqOsbExuru7yRE3z7O7Q3bedyE/bI7j1qhG4/A8DeXajGpEk+MdjUJDeS6EulZBEAQSExNJTEykqKgISZJYWFjA4XAwMjJCV1eXL1IZjC50/qC1Go3V1dVY6lSYiAkNjRIOoTE7O0t7ezsJCQmkpKQcqBjZe+Lt6H703xFtDwJOn4qW1KmFhQWcTidpaWlcuHBBlV0jtZ1/tb9Pu9dLYeEVjOM30XV9C+/V31PNvj+Ew0HbOu24oqKC9fV13F3jfHvAxoPRBW7cuEFmZqYvVUPNHdPMpDjeXZfHl+/Z+PzrY1jKtBfViDbHO9rWC+Gbhi6Koi+ScezYsW2RyvHxcYBt0Y5gNg5R0KLQiBWDhwftnCUxtqHmLrssywwMDNDa2srJkyfJzs4+uO3kXOSiegB0D/8poLeGK4qjptCw2Wzcv3+f+Ph4CgoKVAtNq7lGtaInGxsbjI+P43a7sVgsiLXv3bTf9S2IsrQWfzAajbzhTBkGncCSG8zFVRiNRkZHR7l58yZNTU0MDw+ztLSkyu/3cn0hRr1Im22JxmHtTQuPpU4dfcIlNB5HiVTW1NRw7do1amtrMZlMTE5O0tjYyN27d+nv78fhcATtGao1oRGboxE+YhGNCMWfGg2PxxPy43C73bS3t+N0Oqmvryc5OZnh4eFDOaXek7+wmT7V8094L3/E7/cpzrDaDzQ1nHBJkujt7WViYoJz584xPDwcUnuPc9RqNFZWVmhubvbt2ickJCAdfwuyPgHRMYgw2Yqcfy6kxxAIakaU9sKoFzmdn0yzdYn+BYnnayt80Q6lk9XY2Jhv6Fgoox1ZyUbNRzW0dryHIRrb2yprjqTfeevMnbKyMtxuN/Pz89jtdnp6enC73aSlpfmu3cTExAMdv9ZqNGIRjfARExoRzF7Ohxq7+0tLS7S0tJCUlITFYvE5E4e1LVW9DfmHH0ecbIaFUUgr8et9ykMsHELD7XaH7PM3NjZobW31zSFJTExkdHRU1fSio1SjMTs7S1tbG8XFxRiNRubm5jb/YExCOv5mdN3/iNj1TbwRJDQUImFX+HxRKs3WJZqsSzxfmwds7pjm5+eTn5/vGzpmt9sZGRnxdbJSCsqTkpKCtoaX6wt5tXmSNtuS5jpQRYJwVJNIOHfVRgudtgwGA9nZ2WRnZyPLMi6Xy7dpMDg4iMFg8ImO9PR0vzvxxSIaMfwlJjQ0SqgjGhMTE3R1dVFWVkZFRcW2m+mhd/iTcpCLGxBGb6J7+E9463/Tr7cpuyder1fVG1woIxqKmEtJSdk2h0TtupCjMBlclmVGR0fp7++nurqa/Px8xsbGttmSql9A1/2P6Lq/jffZT4AYGbfASHJWzhen8je3rTSNLe74961Dx44dO8ba2povP3x0dBSdTucTHWaz+VDRjq1Rjb98XVsdqKLN8daC0x1stOZsC4KAyWTCZDJRXFyM1+v1FZUPDQ09UVS+tf3142hp7YrAikU0wkNkPGVjBEyohMbWicm1tbVkZWXtaPuw0RTvyXcgjt5E7Pmu30JDualFwpTuYDA5OUlnZyfl5eWUl5dvu6GrXTCtdupUsG1JkkR3dzezs7NcvHiRtLQ04MlIjVT2NHJCBoJrDmH4deSK60E9jsMSCc5pbWEKogC2hTWmltbITdm7kDQ+Pn7HaMfw8LDPcVGEx0EE5gctRXyzeZKOiWVuDDh4qjLWCz8SiYRzV220ni62dVOgsrJy26aB1Wr1tb9W/jEajb73am1g3+rqaiyiESZiQkOjhKIYfG1tjdbWViRJ2nNicjCEhlT1VuR/+wPEqXYE+yByRsW+71EeYmoXhAdbaMiyTF9fH1arlbNnz5Kdnb2jTTVTL9ScURLstW1sbNDS0oLX66W+vv6JFobbbOkMSKfeia7pf6HrehVPhAiNSHLQTEY9J3OT6JpcoWlsibfW+N+xZqdoh5KmMTo66lvnzMyM32kamUlxvO9CPq/cGef/fX2Ua8fSI+r72o1oc7yjbb1w9KI4j28aLC0t4XA4sNls9PT0kJSU5It2eDweTYmsWI1G+NDOWRKF7HUDC3aNhsPh4Pbt25hMJi5fvryn8g+K452YiVT2hs3P63rVr7cIghCWmRbBFBput5umpiZmZmaor6/fUWQE26Y/qGlPOa+DITaWl5dpbGwkLi6OS5cuPSEydkrT8la/AIDY9y+wsXLoYwgmkZLXf744FYBm687pU/6idE87c+YM165d8w3MGh4e5saNGzQ3NzM6OsrKysqea3+pvpAEg0jP1Ar/3mc/1DGpyVFyQvcjWoWGlpztQFAaaZSXl3PhwgWuXr1KSUkJGxsbdHV14fV66e/vZ3x8HJfLFe7D3RNZlnE6nbGIRpg4mldIFBAsoSHLMiMjIzQ1NXHs2DFqamr2DYcGy7ZUs+nw6bq+6Xe70XBN6Q6GzZWVFRobGxEEgfr6epKSdp+8HI4aDa0JjZmZGe7evUt+fj61tbU77o7vJDTk/DokcxmC24XY96+HOoZgEWkOWl3RptDYrU7jIIiiSHJyMkajkcuXL1NfX09OTg6Li4s8ePCA27dv09PTw+zs7BNpoemmOP7zxQIA/vL1UaQIEWR7ESmiUS2iUWhoPXUqEOLi4sjJyeHUqVM0NDQAkJKSwuzsLHfv3uX27dv09vbueP2Gm7W1NWRZjkU0wkQsdUqjBMPZ93g8dHZ2Mj8/vy2vfT+ClWYjHX8zcpwJYWEMwXYPufCyarYDIRhO//T0NB0dHRQXF1NZWbnvA1ntGg21u07BwXcDFXE8MDBATU0NeXl5e9p6Yl2CgFT9LsSbn0HX9U2f4I3xMxShMTjnwuHcIN0UF3QbCQkJFBQUUFBQ4Jt0rHTCWV1dJTU11Zc/bjKZeKm+kK89mKBvxsmPHs7xcyefrB+LNKLJ8Y5GoXGUIxr+UFxcTAwqVPAAACAASURBVFxcHF6vl/n5eRwOBwMDA6ytrZGamupLswpmJ7qDsLq6ChATGmEiJjQ0ymGFxsrKCq2trcTFxdHQ0LCtyMsf20Fxgg2JSMffiq7zG+g6v4nHD6GhtdQpWZYZHBxkeHiY06dPk5ub67dNNQWVml2ntrYpDhRJkujq6mJubo5Lly6Rmpq65+t37ZhS/QLc/AzC8H+AcwZMO6ewqUUw08mCgTnRwLGsRAZmXbRYl3j2RGZI7W2ddFxZWcnq6qqvtmN4eNjXgvNdNWa+2DzH518f5dmqTHRi5Dq20eZ4R9PuvsJRq9HwF+XZpPzeOp2OzMxMMjM37xPK9etwOHyd6LYWlcfFBX/jYi+cTifAE6m1MdQhuu4KGiNUNRrT09PcuXOHrKwsLly4EJDI2Go7GE6Rt+bdAIg93wXP+r6v11LqlMfjoaWlBZvNRn19vd8i4zA2D4oWUqfW19e5d+8eKysrWCyWfUWGYmsnO3J6OVJeHYLsRXz4/YCOI1o4/yiq8eCQdRoHISEhgcLCQs6ePcu1a9c4ceIEOp2O80mLJOhkBudcfPVGD06nM2LE2eNE6nGFimgTVhC9EQ3lWbHb2pXrV6nNqq6uxmg0YrVauXnzJvfv32dwcJCFhQVVnjurq6skJCRE5W8VCcQiGhrlIEJD6XY0NjYW0O76TraVzzvsg0UuuYqclIuwMoU49GOk42/Z8/VaSZ1yOp20tLRgNBqxWCwB7+CEoxhc7dSpQOwtLy/T1NREWloap0+f9rut4l6RGunUOxAnm9E9/Cek8y/7fSyhJJKc07riVL7ePElzEOs0DrK+x1tw/rJnkL+6beNLLQ7ypRni4wxkZmaSnp6O2Wz2e+CYGkST4x2Nu/vRGMWBn/3W/qx9aye6iooKNjY2/n/23js8rrtM+/+cMzMa9V4tWZJlWd1NXbIdJwRiQiBAQgk99LKBLNnCb1/YHyy7m3d3A1kWliUsyZKFJLQECCGBJJTEJZItW1221XvvbUYzmjnn/UM+k5E96tOOZu7r0hVHOjPPOTOnPPf3fu7nsbXQbWpqQpKkVWqHK1QHxQjua+ent8B77sh+bAlbJRpms5mGhgaWlpaoqKhY14i8EZSbi1MG54karPl3oT3/X4jNT29INDxVOrWVz1qZTJ2SkkJWVta2PiN/16nXMTo6SmNjo8PhkZuJtVYca/bb0P7xqwh9VTA/AmHbI97OgDc+ABWfxtXRBRZMFkL13vG4uLcyjZ/WjTK8aGEhOpsjKQFMTk7aasMjIyNtxMSTyYU3kUZ3wFcVDV87ZtjZsz8gIIDExEQSExORZZmFhQUmJycZHR2lra2NoKAgG+mIiopyyqwOg8HgL5vyILzjyeGHQ6x3A1NWoDcj3c7OzlJXV0dERAQVFRU7XvGzn9C9k6m/CqT8d8H5/0LseAmMMxC0tindU6VTm0ka7E3KeXl5JCcnbzumOz0T7o5nbwZfD7Is09XVRVdX17YVuHWPKyIFKbkYcfAiYutvkYo/seX3dza8KTlNDNeTEhnIwMwS9QNzHN8f7eldAiBUr+Xe8hT+4889fP9cP3d8poSYmJUhfgaDwVYb3tXVRUBAwKop5e4eMOZLSaivEg1fVTSccdyCIBAWFkZYWBjp6elYLBabqbytrQ2z2WxrChEdHU1ISMi2zjFlWJ+vnZ/eAj/RUCkUsrDRykJ/fz9Xr14lMzOT9PR0p1xogiAgCILTSpjkhAKkuFzE8SuIrc8hHfnQmts6e37IZrAZFcVqtdo6eG3GpLwRdrNHQ4m3XlJt/3mWlZURHh7ukjhS7jsQBy+iufJrjxINb30AFqVGMDCzxKW+Wa8hGgDvL07mR+cH6Z9e4rmmUd55eIWEBgcHExwczN69e7FarbZOVu3t7ZhMJpvaER0d7fLEw5tIozvgi0TDl0unXHHcWq2WuLg44uLikGV5lam8q6sLnU63qsxqswudBoPBP0PDg/ATDZXCvnzJ0cVmtVq5cuUKY2NjFBYW2lb8nAVnlzBJBe9C/PM/omn+xbpEwxOKxkakymg0UldXh0ajoaKiYsvmekfYzR6NjeKZTCZqa2sBdvx5bkhoct6G5g9/jzhwAeaGIHzPtmM5A96WnBbtjeDZxtEdD+5zNoIDNHysIoVv/rGb75/p5a0F8eg0qxMfe28HvK52KC10Xa12+Fri7WvHC75bOiVJksvVQUEQVi0cKC2wp6am6OnpoaWlhfDwcFsL3fDw8DW/Cz/R8Cz8REOlEEVxzQTYYDBQX1+PIAhUVlYSGBjo9PjOVhaseXej+fM/IfZXw0wfRKY63M7buk5NTk5SX19PYmIiubm5Tlvl2c0eDVibAMzNzVFbW0t0dDT5+fk7fphtWBIWloS8twyhvxrN1d9gLf3MjuJtF96arCgTwpuG5llathKoc2/p0Xp4b9EeHq8eYHDWxK8bRnl34drzVOBGtWN6eprJyUlbicb13g5nwFu/V1dAlmW3l6Z5Gr5aOuUUf+YWYd8COzMzE5PJZFM7BgYGAFapHfZ5j8Fg8M/Q8CB87wpRETZ6SGm12huS/YmJCaqqqoiIiKCsrMwlJANc0P0pfA9y2nEANC3PrLmZJ0qnlBuqfSIuyzK9vb3U1taSlZVFfn6+U2+83pL4uzPeyMgI58+fJzU1dUudpbYa53pYc94OXGux7GF4m6KxNyqQ+NAAlq0yjYPznt6dVQjSafhE5cqCxH+f68Ns2fz1ovT9z87OpqKigpKSFZ/HxMQE58+fp6qqira2NiYnJ7d9v/G279LV8EVFw1865Tno9Xr27NlDQUEBJ06c4MiRI4SEhDA8PExVVRX/9E//xGc/+1meffZZ5ubmnGIGf/755ykrKyMoKIjY2FjuuuuuG7Z5/PHHOXToEIGBgSQmJnLfffet+ntTUxMnT560DSz9+te/vuvvFX5FQ8WwT/btjbM7NSJvBq7o/mQteDdi7xnElqexVv4lOHhoeULRUBJe5eaqDI0bHx+nuLiYqKgop8d0d+LvSQXFfqjhoUOHSEhIcFqczXyOUs5bkV/+P4hDl2C2HyL2bvp9nZVYeWuCJggCxWkRvNAyzoXeGUrT127UsJX3dBbedTSRH1b1MzJn4pf1I9xTvPXSN0EQCAkJISQk5Aa1o7W1FbPZTFRUlK1EYytqh7d+r66AL5YRuaOEyBvhDUTDHoIgEB4eTnh4OPv27WN5eZnFxUVaW1v54he/yNzcHHFxcfzHf/wHp06dIjs7e8vn6jPPPMMnP/lJHnzwQd7whjcgyzJNTU2rtnn44Yf55je/yUMPPURZWRlLS0t0dXXZ/j43N8eb3vQmbrnlFmpqamhra+Pee+8lJCSEv/qrv3LKZ+GN8BMNFUNZ3V9eXqapqYn5+fkdGWe3E9uZkLLvQH7xbxEn2xFGGpCTjtywjafmaMDKzXVpaYm6ujoAl5WlKTF9QdGwWq00NTUxMzNDeXk5YWFhLomzLkITkFMrEfrOrZRPlf3Fhu/rqtVbb1zZKk2L5IWWcWp6Zzy9KzcgUKfhE8dSefDFDn5wro93HE7YcXmX/ZRjWZZt3o6JiQk6OjoIDAy0lVhFRkaumWh643fpSviioiFJklM6L6oN3k6wdDodb33rW3nrW9+KJEl86Utfoq6ujhdeeIEvfelLJCYmcurUKU6dOsWtt966YfMWi8XC/fffz0MPPcTHP/5x2++zs7Nt/56enuYrX/kKzz33HLfeeqvt9/n5+bZ/P/nkkywtLfH444+j1+spKCigra2Nhx9+mAceeGDXXj/eQ0n92DI0Gg0LCwtUVVUhSRIVFRVuIRngokRYH4Z04PaV92/6ucNNPFk6NT09TVVVFaGhoZSWlrqMZCgxd3vXKZPJxPnz522zXZxNMpQ4m0n4rLl3AiBe9lz5lLc+ZBQVo3FwHuOye6+9zeDuI4kkhusZWzDzdN2IU99bUTtSU1M5evQoJ06cIDMzE0mSuHr1KmfOnKGhoYGBgQGMRqPD1/sKfJVoeNPKvrvgCY/GdqH4WcvKynjxxReZmprikUceITg4mC9/+csOy5+uR21tLYODg4iiyNGjR0lKSuL222+npaXFts3LL7+MJEkMDg6Sm5tLSkoK73nPe+jv77dtU1VVxcmTJ1c1ODl16hRDQ0P09PQ49bi9Ceo4U3wUG920rVYrbW1tJCUlUVRUtOXp0zuBqxJ+66H3rrx/y9NgWbrh757qOgXQ0NDAvn37KCgocPlqzm7vOqWUn4WFhVFaWuqUTl2OsFmiIWW/FVkQEUfqYbrHJfuyGXjjKnhKZCAJYQFYJJn6gTlP784NCNCKfOrYilfj0df6XEqGlPabOTk5VFZW2konx8fHqa6uprq6mvb2dqampnyulMgXiYbfo6EOGI1Gm0cjODiYN7/5zfz7v/87V65c4bnnntvw9Ur509e+9jW+8pWv8Nvf/paoqChOnjzJ1NSUbRtJknjwwQf51re+xdNPP83U1BRvetObMJvNwIoP8frSYOX/R0acu0jiTVDPmeKHDZIkceXKFYxGIykpKRw4cMDtN3hXEQ05/SRyeArC0gxi6ws3/N3dCbgkSVy+fBmAvLw8p80i2Qi72aMxPDyMyWQiISGBgoIClz+wNvU5hsQhpx0DQHP1Ny7dn7XgrUmaIAg2VaOmx/vKpwDecTiB5Ag9k4vL/PzSsFtiCoJAaGjoKrVj//79ttbiAwMDTExMrKl27Db4ItHwNTKpQG1Ew2AwEBoaesPvv/a1r9mGAK71c/HiRduz8ctf/jJ33303RUVF/PCHP0QQBH7xi18AK5/J8vIy3/72tzl16hTl5eX85Cc/ob29nT//+c+2mNefL8rzaTefR36PhsqwtLREQ0MDFouFqKgoj/WGdplXQtRgPfQ+tGcfQtPwJFL+alnTnaVTJpOJ+vp6LBYLWq3WbWVpsDs9GrIs09HRQW9vL4GBgcTHx7v85roVpcaa+w7EnjOIV57FWvEFl+7XWvBGRQOgJC2S55rGqOnzrnkaCnQakU8fT+P/f76Nx6r6eXdhEsEB7q0hv37Y2OXLl1laWmJsbIz29naCgoJWeTvUlKhtBr64uu+Lxwze79G4HvaKhj3uu+8+7rnnnnVfm56ezvz8Sse9vLw82+/1ej0ZGRn09fUBkJSUdMM2cXFxxMbG2rZJTEy8QbkYGxsDcGoTFG+D710hKsL1SZjiEQgMDKS8vBy9Xu92v4ICV3SdUmA99D5kBMTeMzDdvepv7krAZ2dnqaqqQq/XU1ZW5tLjdYTd5tGwWCzU19czNDREWVkZAQEBbkuqNxtHynoLsqBBHG1CmOra+AVOhjevaJWkrZglm4fmMZi9z6cB8LZDCeyNCmTasMxTFwc9ui+CIKDT6QgPD6ewsJATJ06QkZGBxWLh8uXLnDlzhsbGRgYHB1laurFEVI3wVUXDF4mGmjwasPbAvtjYWHJyctb9CQwMpKioCL1eT2trq+21y8vL9PT0kJaWBsCxYyuKuP02U1NTTExM2LapqKjg9OnTtlIqgJdeeok9e/aQnp7uikP3CqjnTPFhyLJMT08PFy9eJCMjg0OHDqHRaDxijFbg0tgRKcgZt6zEafyJ++Jew9DQEBcuXCA1NZXDhw+j1Wp3/QA9ZeXfFcm/0WjkwoULmM1mm+nbXaVhSuKzqVjBMcjpNwEgXvn1hu/pCniropESGcSeCD0WSabOy6aEK9CKAp89sfJAf7x6gAWTxcN79Pq5otVqiY+PJzc3l2PHjlFUVERERASjo6NUVVVx/vx5Ojo6bN4ONcIXy4h88ZhBfQRrpwP7wsPD+cxnPsNXv/pVXnrpJVpbW/nsZz8LwLvf/W4AsrKyePvb387999/Pa6+9RnNzMx/5yEfIycnhlltW8pn3v//96PV67r33Xpqbm/nVr37Fgw8+uKs7ToGfaHg9rFYrjY2NdHd3U1xcTFpamu2E9CTRcHUibD38AeAa0ZBeTxhcGVfpJHP58mWOHDlCRkaG7bP2VCmTuxLPLSXkW8DMzAxVVVWEh4dTUlJia1jglUQDsOZeG97X+ttNva8z4e0PmpK0az4NLy2fArg9P570mCBmjRaerPGsqrHWOad4O9LS0igsLOT48eO23v9qVjv8iobvQG3HbTQad1xm/tBDD3HPPffwoQ99iJKSEnp7e/nTn/60ao7Wj370I8rKyrjjjjs4efIkOp2O3//+97YWyBEREbz88ssMDAxQXFzM5z73OR544AEeeOCBHe2bt8Pv0fBiWK1Wqqur0Wq1VFZW3tCZR6PRrJLg3AlXx5YOnEIOjkVYGEXs/CPSgVOA6xJ+s9lMQ0ODrdXq9asfnlAYwH0Pb/t4zsLQ0BAtLS0cOHBgFUEG97XT3epnJx04da18qnml+1RUukv2ay14q6IBK+VTzzaOeq0hHF5XNb7066v87/lB3lecTHig5x5zmzn/dDod8fHxxMfHI8syCwsLTE5OMjIyQltbG8HBwTZvR0REhNcmeL5INHzVo2G1WlXl0VirdGor0Ol0fOMb3+Ab3/jGmtuEh4fz2GOP8dhjj625zcGDBzl9+vSO9kVt8L0rREXQaDRkZWVRUlLisP3nri2dAtAEYD34HgDE+idcGnd+fp6qqio0Go1DkgGeIxruiqkkCM6IJ8sybW1tNmXIUacud7XT3bJSExyDnFoBgKbtxq5nroS3J2ml1xSNluF5Fr2gLGktnMqNIzMumPklCz8+P+Cx/dhO4i0IAmFhYaSnp1NUVGRTO8xmMy0tLZw5c4ampiaGhoYwmUwu2vPtwReJhr90yvuhDN101HXKD/dAHWeKDyM+Pn7NC9rdBmV7uCPxlq6VT4mdL8P8sEvijoyMUF1dTXJyMkePHkWrdbz6uduJhrMUDYvFQl1dHSMjI5SXlxMXF+dwO28tnQKwZt0BgNj6vEv2Sa1IiggkJTIQqwyX+r1vnoYCjZ1X48cXBpk1LntkP5xxfitqR15eHseOHaOwsJCwsDCGh4d57bXXuHDhAh0dHUxPT3vc2+GrREMtCbczobbjXqvrlB/ugXrOFB/FejdujUaDxeKZlUV3qClyzAGklDIEWULT9DPAeQm/LMu0t7fT1NTEoUOHyMzMXPez9oRHA9SlaBiNRs6fP4/FYqG8vHzdFSRvJhpS1sp0emHwIiyMumS/HMHds1O2A0XVuNjrveVTAG/MiSUrPoRFs5X/rfacquHMxNuR2pGWlobZbKa5udnjaoefaPgO1NjedidmcD92Bt+7QnYRPK1ouKNsy2YKb3gSZMkpBMdisVBbW8vw8DDl5eWb6l/truO1jwfuq9nfqRlcab0cGRlJcXHxhlPq3e3R2NJxhe9B2lOEgIzY9jsX7Zk6UXytze0FLycaoiDwFzetqBpP1AwybXC/quHqa1en05GQkEBeXh7Hjx/n6NGjhIaGMjQ0ZFM7Ojs7mZmZccu15ot+BV88ZlBXe1tJkvxEw8NQx5nih0N42qPhjoeXlPM2ZH0YwkwvQu+5HbdhXVhYoKqqClmWba1WNwN3KxrujqlMQd1OvIGBAS5evEhmZib5+fmbegB5s6IBr6saGjeXT6lF0bgyssD80tbVVHce3y1ZMeQmhmJclvhhVb/b4ipw5wq/IAiEh4ezb98+iouLOX78OKmpqZhMJpqamjh79izNzc0uVTt80a/gi8cM6lJyDAYDgJ9oeBDqOFN8GBuVTu1aM7iCgBCkvJXp4JqGJ3fkXRgfH6e6upr4+HiKiopsLec2g91ONJR4W0kEZVnm6tWrXL16laNHj5Kamrrp13o/0VjxaQh958A47fT9cgQ1JCwJ4XrSooOQZKj10nkaCgRB4L5rqsZPLg4xseCZDn2egE6nIzEx0aZ2HDlyhJCQEJeqHb5YOuWrioaaSqeMRiPgJxqehO9dIbsIPkE0AOvhDwIrsw005pXkZiuxZVmms7OT+vp68vPzyc7O3vID0RNlau4qL7KPt9mEXCk/Gx8fp6KigtjY2C3F8tquU9cgx+xHistFkCyIHS+5Ytccx/VyRQOgOFUd5VMAJzKjOZQcxpJF4tHX+twa21sS7+vVjmPHjpGamsrS0tIqtWN4eHhHLcu95XjdBVmWVbWy70yo6bgXFxcRRdFh504/3AN1nCl+OMRuHthnDznxEFJCAYLVjO7yL4HNKxoWi4WGhgb6+/spKysjKSlpW/vgK4rGZuIZDAaqq6uRJIny8vJtrRS50/i83VhS1lsAEN3U5lYNZnCA0vRrg/t6vFvRgJXP9PMn0wH4ee0wI3PuHYDnjYl3QEAAiYmJ5Ofn29SO4OBgBgcHOXfuHDU1NXR1dTE7O7tlhdMbj9dVUD4bXzpmBWryaCjD+nzxe/IWqONM8cMhfEXRQBBsqoam/kcIbI5oKAmx2WymsrKS8PDwHeyCe9UFcN+qv4LNHOPU1BRVVVXExMRsufzs+lheTzSyrxGNrj+DedHZu6ValFxTNK6OLnisdexWUJYeSUlaBMtWmUfOuE/VUANpVNSOjIwMm9qxd+9ejEYjDQ0NnDlzZtNqh68RDeVeqZaE21lQm5KjDOvzpXPT26COM8WHsZFHQ5IkjzzQlC5M7ootFbwbOSAEcbKdeMPVDUnO5OQkVVVVREdHb6oL0kbwROmUt3k0+vv7uXTpEllZWeTm5u7oQeNuo/t2zlM5vgA5MhXBsoTY9ScX7NlqqOVBGBemJz0mCBm41KcuVePXDSP0TRndGltNsFc7Tpw4weHDhwkODmZgYICzZ8+uq3b4GtFQjl8tCbezoBy3WjwaBoPBP0PDw/CtK2SXQbnQPaFqKLHdRnL0YUgFK5PC08deXjNJlWWZnp4eamtryc7OJi8vzykPAl8onVorIZckiStXrtDW1kZhYSF79+51WSxXYNuxBGHN4X2uSKjUUjoFr3efqun1fqIBcHRvBMf3R2GV4ZGzvW6JqfbEWxAEIiIiyMjIoKSkhOPHj5OSkoLBYKChoYGzZ8/S0tLCyMgIZrPZ54zRyr1Zzd/xdqA2JcevaHge6jhT/HAIbyAa7oxtLfwoAAnTF2Fu8Ma/W600NTXR3d1NSUkJKSkpTovtCaLh7nItR8e4vLxMbW0tExMTVFRUEBMT45RYqiAagJR9jWh0vgxW3+latBFKbERj64ZwTz3w77umavy2aYzOcdeXwqmFNG4WAQEBJCUlUVBQwPHjxzl06BBBQUH09/dz9uxZJEliYGCAubm5XXfsjqC2hNtZUJ75ajluhWj44Tmo40zxwyGU2QeeIBrKTcadseW4HKTUYwjIBDb/ZNXflKnUBoOBiooKIiMjnRrbU4qGuz0a9vEWFxeprq4GoLy83Kk3a7UQDTm5GDkkHsE0j9Bz1sl75iCeShI0pfNU69iiR4bhbQf5SWHcmh2DDHz3tHtUjd26iiqK4iq1o7KyEli5D9fX169SO5aX1XF+bBW+puAoUJuS4ycanofvXSUqw3oXsyAIHjOEi6LoEYO0tehjAIRc/QVYVgZPKVOpw8PDKS0tJTAw0OlxfaF0yj7e5OQk1dXVxMXF7cj0vRbcee7siNQI4uvD+9peL5+yWq1YLBanHoNaHtwAsaEBHIhf6Tamhja3Cv7ipnQE4OWrE1wZWXBpLLWQRmdA8cDl5ORw/PhxDh48SGBgIH19fZw5c4aLFy/S3d29q9QONRminQllhoZa7ldGo9Hv0fAwfO8q2WXwmc5T1yAdeDOmgBg0S1OIV5+jr69vy1OptwNfIBpK8t/X12fzuOTk5OwKP8JOYlmV8qm23yFbLavOeYvFgtlsZnl5GavVuuPvS01JWPm1NrfV3e4ZaOgMHIgP4fb8OAC++2qPS2Op3aOxFdi3ehVFkcjISPbv309paSnHjh1jz549LC4u2tSOy5cvMzo6qmq1w1engquptS2sKPP+YX2ehXrOFj8cwtNEw93JNxodwylvBsB09j/p6OigqKiI1NRUl970fcGjIQgCAwMDtLe3U1RU5FSPy/VwZ1nYTkmNnHoMWR+OYJhAGqhBlmV0Oh0BAQFotdpVfiWLxbJt0qG2pKV8XxQA1d3qUTQAPnsiDY0Ar3ZM0TA45+nd2RVYb6aEXq9nz549Nm/HwYMH0ev19Pb2cvbsWS5duqRKtcOXS6fUdNzKHA0/PAf1nC0+io2SD6XNrCfgqdgje96MJGgJnb7M8f1hREdHuzzmbvdoLC8vs7CwwOLiIhUVFS7/TNXi0QBAo8O675aVf3a8bPNGiaJoIxzKz/Wkw2w2b6nESk2JVnFqBFpRYGBmif5p97WM3SnSY4K581ACAP/pQlXDVxWN9XC92lFZWUlSUhILCwvU1dVx7tw51agdaku4nQW1Hbffo+F5qOds8cMhPK1ouDv27Ows40aB8dgKAIJbnnJL3N1cOrWwsEBVVRWCIJCenu6Wm7JaiIYynMqy/00A6LpedphMiaKIRqMhICCAwMBA9Ho9Wq3WRhY3U2KltqQ0OEDDoeQwAM73qEvV+PTxNLSiQHX3zLY6Z20WavtOt4vtzpRQ1I6DBw9y4sQJ8vPzCQgIoKenx6Z29PT0MD8/73Uk3FdLpxSPhlpgMBj8pVMehp9oqByeJBruVjQGBwe5cOECISEhGAo+sLIPLb8Eo+uTnN1KNCYmJqiuriYhIYGIiAi3PTjVYAaXZRmr1bqiTuy7BVnQIE60Isxs3LFIUTv0ej0BAQHodLpNqR3elkxtBLWWTyVHBnL30UQAvvNKj0s+d7V9lzvBZhWN9SCKIlFRUWRmZlJWVkZFRQVJSUnMz89TW1vLuXPnuHLlCmNjY16hdqhtZd9ZUJtHw28G9zzUc7b44RCeVjTckSwqA+OuXr3K0aNHCQ8PxxBzECk+D8FiRNP0k43fZIfwRJmYK5NxWZbp7e2lrq6O3NxcsrOz0Wg0bkuO3O3R2CoUkqGsWorB0UgpZQBoOl7a7JsAK8eqf1YF5QAAIABJREFU1WpvKLG6Xu2AlXPd7b6nHaBi34oh/HzPNJLKEutPHUtFrxWpG5jjXJdrDO2+suLtinM2MDDwBrVDp9PR3d3tFWqH36OhDhiNRr+i4WGo52zxUWz0oPI00XB1bLPZzMWLF5mcnKSiooLY2NiVuJKEtXCl1a3m0g9Bdm1y5u6ZFq6MKUkSly9fprOzk+LiYpKTkwH1lDO5OpY9yVDaOANYM1fKpzSdL2/4HmLPq+h/fDsYp1b/3q7ESlE7tFotk5OTLC4uotPpdmQodzfyk8IIDtAwY7TQOur6IXjORHyYnnuK9gCuUTV8TdFQvEuugCO1IzExkbm5uRvUDovF4pJ9uB7+0il1wO/R8Dz8REPl2M2lU3Nzc1RVVaHT6VYNjFNKiqT8u1e6Ac30IHS94rL9sI/pTrgipkLcZmZmqKioICoqyqXx1oK3Eo21SAaAdf9tAIj9VWBau1uRpvEp9E9/EM1IA7qqb2+4bwMDA7S1tXHw4EFiYmLWLbHyNuKh04iUXBvep6Y2two+VpFCkE7k8sgCf2qddPr7+0oi6m7je2BgIMnJyRw6dIgTJ06Ql5eHVqulu7ubM2fOUFtbS29vLwsLCy67z6htZd9ZUNtx+4mG56Ges8WHsd4N3NOKhqsSn+HhYc6fP09KSgpHjhxBq9Xa/mZLiANCsB5638q+1P6PS/bDPqa7P2dnJ/6K6Vun01FWVnZD3aq7k39vIjWK6XstkgEgR2cgRWciSBY0XX928CYSutMPov/9XyFIFix5d7F809+tGVNRlvr7+ykuLiY+Pn5DQ7k3qh02n4bKDOEA0SEBfLB0RdH7z9M9WCXnnf++1nXKU8cqiiLR0dEcOHCAsrIyysvLSUhIYHZ2losXL/Laa69x5coVxsfHnap2+GrplBo9Gv7SKc9Cu/EmfngzNBqN26RiR7GdnXzLskx7ezt9fX0cPnyY+Ph4h3GXlpYAkAo/CjXfR+x4Gaa6IDrDqfujQO1zNMbHx2loaCAtLY3MzMw1Oyd5U/LvrlgKyVCO3RHJUGDNvA3xQgeazpew5r799T9Ylgh44S/RXn0WgOWKL7J8/G9gjfdZXl6msbERs9m85jR7URRtD3Rl/5Qf++tO2c5TD//yaz6N2r5ZTBYJvVY9SQjAveV7+emlYTrGDbx4ZZy35N94z9kOfLF0yhsQFBREcnIyycnJSJLEzMwMk5OTdHZ2YjQaiYiIICYmhpiYGEJCQra932pb2XcW1HbcfkXD81DP2eKHQ3i6dMqZieny8jKXLl1iZGSE8vJyhyTj+rhydAbW/W9EQEZz8VGn7YujmOAa0+N6MXearMiyTE9PD/X19eTl5XHgwIE1H6zuTP69ZWCffamUsl/rJR7WzJXyKU3Xn0C6RvANk+h/9h60V59FFrWYbv8Wyyf+dk2SYTQaqampQRRFSkpKHJKM6+HIUL7V9rmuwv7YYGJDAliySDQMqG8AXniglnvLVoZT/tfpXixOVDW8Jfl2NbyJaNjDXu0oLy+3PVdmZmZsasfVq1e3pXb4PRreD1mW/YqGF8BPNFQAby6dclZs+1kOFRUVhIaGrrnt9QTHWvqZlf1pfMplrW6VG6u7icZO4kmSREtLC93d3ZSUlLBnzx6XxtsKvEHRsFcylAF8G0HaU4wcFIWwNIM4cAFhqovAJ96GZrAGWR+O6d0/wXrwvWu+fnZ2lgsXLhAVFcXhw4dXlQRuFoqh3L597loTyrcyLHC7EATBpmqo0acB8IGSPUQF6+idMvJc46hT3tPXFA01rHIHBQWRkpLC4cOHOXHiBDk5OWg0Gjo7Ozlz5gx1dXX09fWxuLi44fentpV9Z0Ftx+2fo+F5qOds8cMhPK1oOCP22NgY1dXVJCYmUlhYiE6nW3f7649ZTjux0up22YCm4cc73h9H8JSisd14ZrOZmpoa5ubmqKioIDIycsPXeEPy765Y9jMyNlIxVkHUYM14IwC6V/+ZwCffijjTjRSewtIHfoOUdnzNl46OjnLp0iXS09PJyclx2sN6vQnlkiS5xVBuIxob+DS8NfkO0Wv5eMVeAL53phezxTmfka+seKtxdV+j0RATE7NK7YiLi2N6epqamhpee+01Wltb11Q7vFXFcTXU5tEwGAz+ORoehnrOFj8cQs2KhizLdHR00NDQQEFBAVlZWZu6cd+QgAsC1pJrqsbFx8Dq/GFOniAa2/VozM/PU1VVhV6vp6ysbFOlOTuJtx14kmhsZPreCLbyqeFaBOM01sQjLH3oBeTYbIfbK+VrLS0tFBQUkJaW5tI2oJ4wlJelrxjCW4bnmTV6fpjadvDeoiTiQgMYnjPxy/qRHb+ft5IqV2A3JN2O1A5BEOjo6HCodqhtZd9ZUNtx+0unPA+/GVzl8DTR2G6iYrFYaGpqYm5ujvLycsLCwjb9WkdKipT3TuRX/hFhfgjx6nNI+Xdta7/WgtIj3tsVjbGxMRoaGti3bx/79+/f0sPfnb4JT5RpKT/KubMdkoEsI4422v5XisnC9L5nQOfYbChJkq0GvKioiIiIiG0fx3bgLkN5YriefTFBdE8audg7y605sU7Zf3ciUKfhU8dS+ecXO/jvc32843ACgbqd1aKrPfneLHYD0bCHonbExMQAK6vik5OTTE1N0dXVZVMNg4KCsFqtqvEsOANq8mgoau56pdh+uB7qoaU+jI08Gp5qc7ldkrO4uEh1dTUWi4WKiootkQwl7g3HrNW/PsDvwiO2qczOhLs7T20l8Zdlma6uLhoaGjh48OCanaU2irdbFY3rk+ttDRezLhPw+79GV/0d268sBe9ek2RYLBbq6+uZnZ2ltLTU7STjerjaUK60ua3qUadPA+CuI4nsidAzvmDmZ7XDO3qv3ZZ8r4fdfqzBwcHs3bvXpnZkZ6+olzMzM5w5c4b6+nr6+/s35e1QO9RUOrW4uDJE1N91yrNQx9nix5rwZHvb7SSmExMTVFdXExsbS1FREQEBAU6Lay38CLI2EHGkHmHg/Jbfd7txXYXNxpMkiaamJnp7eyktLSUxMXFb8Tztm3AlNtu+dk2Y5tA/80G0TU8hCyJSzAEANJ1/cLj50tISNTU1ABQXF3tdjfBmDeX23o6NUJ6+4tM4362+eRoKArQinzmeBsBjr/WzaNr+vXW3J5z22O1Ewx6K2hEeHk5KSgqlpaXExMQwOTlJTU0NVVVVtLa2MjEx4bFqA1dCTaVTRqMRwF865WH4S6dUDrUoGkqdekdHB3l5eSQnJ2877pom9OBYpIJ3o6n/MZoLj2DZW77tGGvF9TaiYTKZqKurQ5ZlKioqNu3HcITd6NFQuuEMDg4iSRJxcXFb7p0vzA2gf/pDiBNXkXXBmN72CHJcDkHfL0UcrAHjFARF27afm5ujrq6OuLg4p5q+XYnrS6zs2/5eT9KU7a4/rpK0SEQBeqaMDM8ukRSx/XPRk3jboQQeq+qnd8rIkzVDfOp46rbfy1eSb18iGgqUhDs4ONimeFitVqanp5mcnKStrQ2z2UxkZKStDGs3rKyriWgYDAZ0Ot2GDWb8cC38REPlUEPXKavVSnNzM9PT004pIVmPXFlLPo2m/seIbb+D6W6I2rejWPZwN9HYKPGfm5ujtraWqKgoCgoKdlw36+7ZFq7+LJVkOTMzk4mJCSYmJujq6kKv1xMbG0tcXBxRUVHrPjSFkQYCn/kwwuIYUkgCprt/hJx4CADzm/4Fa3IJBEbZth8bG6O5uZmMjAyXmr5dCeXzsO9cpZAOpcQKsLUEVv4bFqilYE8YjYPzVPfM8M7DjpU1b/9MtKLA525K40u/vsrj1f28tyiJiKCtJyq+lHyrpb2tM+HomDUaDbGxscTGxiLLMgaDgampKSYmJujo6CAwMNBGOiIjI1XjdbCHmjwaSscpX7kOvRV+oqECbGaOhiceaptRU4xGI3V1dWg0GioqKtDr9TuOu17CL8dmYc24FU3XH9HU/ADrbQ/uON5m4roC6yX+o6OjNDY2kpGRQUZGhlO+e3cqGq4mNfYr8YGBgezdu9e24qg8+FtaWrBYLMTExNiSA/vzU9PxEgHPfQZh2YgUl4vp7h8jh7+uxFmOfmRVzL6+Pjo6OsjPzychIcFlx+ZubMVQXpYWuUI0uqfXJBpqwJvz4vjBuT46xg386Pwgn785fcvv4S+d2t3YqKWvIAiEhIQQEhJyg9rR2tqK2WwmKiqK6OhoVakdavJo+GdoeAf8REPlsF91dPcqw0ZqytTUFHV1dSQmJpKbm+vUuQHrkStr6WdWiEbjU1hv+hIEOseE6w2lU4rpu6uri0OHDjk1ofWWad07wUadpTQaDXFxcbaypoWFBcbHxxkcHOTKlSuEhYURGxtL2sjvCXrtQQRZwpp+EtPbfwB6x00LJEmira2N0dFRj3SWcicclVgppEOWZUpSw/jBa1DdPYPFYtlRJytPQhQE7rspnb985jJP1AzygZI9RIds3U/mK8m3Gudo7BRbLSFypHZMTk6qTu1QW+mUt/njfBF+oqFy2Js33X1jWqt0SpZl+vr6aGtrIycnh7179zo1rnKcaxENOf0mpLhcxPEraOp/jLX8PqfE9TTRsC9BKysrIzw83KXxXAlXEA2FYCjvu1FnKUEQCAsLIywsjIyMDMxmMxNjowSf+7+E9/4KgPHUO1i86R+I0Qbj6OpS2jQbjUZKS0t96qHmqMTq6N5IAnUiU4ZlWkcXOBAXbNtWLcmJgjdkx5CXGMrlkQX+p2qAv35jxpZe71c0djd2knDbqx2pqalYLBab2nH16lWWl5eJioqyEQ9vuq+okWj42rnpbfATDRVgvYtEueA94dNwVDolSRItLS2Mj49TXFxMVFTUGq/ePuxXVB3e8AQBa+lnEJ+/H83FR7GWfBo0OzeDeZJoLC0tUVdXhyAITitBux5q7jplb15WPANbRQAW0i/8PdreFwGYKf4iA3vuZLyjG1PLVaKiooiLiyM2NpagoCCWlpaor69Hp9NRUlLi84ZDURQJCdJTnBrJ2c4pLg0skJMYtqrUymKx2L6r7X5P7oIgCHz+5nQ++9NmfnppiA+XJRMftrXrzlcSHF8kGs48Zq1Wa1NaZVlmcXGRqakpxsfHaW9vJygoaJXa4cnrRk0eDf+wPu+An2ioHIIgeMwQrtFoVk1IVZJhgMrKyh11QNooLqyQK63W8Sks5d2F/Mo/OXWAnyfM4LIsMzs7S21tLTExMeTn57vsJu+JrlPOeFjbk4xtta4FWBhD/8sPoxlpQNboMb/lPwjIfTvZQDYr/dgnJiYYHR2ltbWVwMBAW0eZw4cPq+bB6w5UZkRxtnOKqu4ZPlq50ipWkiQWFhbo7e0lMjJy1TwTe0O5t+FYRhRHU8KpG5jjB+f6+fKbMzf9Wr+isbvhqpV9QRAIDQ0lNDT0BrXjypUrHlU7lHutN16rjrC4uKga78tuhjrOFj/WhSeJBqzccGdmZqiqqiIkJITS0lKXkQx4fZVw3aR41QC/7zllgJ8nFA2r1cqFCxdIS0vj4MGDLk1o3T0ZHHaejDmDZAgTrQQ+cccKyQiKwvTen2PNffuqbUJCQkhLS6O4uJj8/HyWlpYIDg5mbm6OM2fO0NzczMjICMvLyzs6nt2AY/tXpilf7J3BZFm5Ly0sLFBXV0dsbCy5ubm2ycqwvZkd7oKiagA8XTfM0OzSll/vC/BFouGuTluK2pGTk0NlZSXFxcVERkYyNjZGdXU11dXVtLe3MzU15ZZOfnBja2tvhdFo9KqyM1+FX9HYBfAU0VBuNv39/XR0dHDgwAG3tPRUVj83OmZr4UfQVH0bcaQBofcscvqJHcXdbDtfZ0DxuQBON32vBXcrGrAzomFfkrNdkiH2nkH/608gmOaQojIwvesJ5HVaIvf399Pe3k5BQQGJiYk2xWl8fJzu7m6am5uJjIy0tc8NDg72uQQsMy6YhDA9o/MmLvXOkhUh0djYyP79+0lNTbV9Hkrp5fWG8rXa53oKJWmRlO+LpLp7hkfO9PL1t2Zv6nW+lHz7YntbT3gV7NWOtLQ0LBYLU1NTTE5OcvnyZaxW6yq1w9kLfsrzQS0Krr/rlHfATzRUgI0eVp6cpQHQ2dlJYWEhMTExbou5qUGFwbFIh9+P5tJjaKu+zbITiIY7EnGr1UpTUxMzMysTlmNjY10eE9zfdQq2RzQ26iy1WWiafkrAi3+DIFmwppRieucPVw3euz5mW1sbw8PDFBYWEhkZaTuOyMhIIiMjOXDgAEaj0Tazo7OzE71eb/N1bDSzY7dAEASO7Y/ml/XD/L6hD2PEJPn5+Q4n1q81s0MhH9e3z/WUqfy+k+lUd9fzm8ZRPlaxl/SYjcsx/KVTuxve0GlLq9USHx9PfHy8zdsxOTnJ6OgobW1tBAcHExMTQ3R0tFO8HfaDO9UAg8HgL53yAviJxi6AJ4iG2Wy2+TEOHz7sVpIBm0/6LaWfRax9HLHnVYThBuSkw9uO6Y4p7EtLS9TW1qLRaCgpKeHMmTOqNWhvFAs2KH9zgOs7S23rgSfL6M7+G7qqbwFgyX0n5tsfBq3j1T+F+C0uLlJaWrrugysoKOiGmR3j4+OrZnYoxCMgYOvtUtWCYxlR/LJ+mHNd0/zlx44SHe2YwF2PrUwoV7qKuSPpOZwczsnMaF7tmOJ7Z3r513fkbup1nk5E3QVvSLrdDW/rvnS92rG8vGzzdjhL7bD3VqkBRqPRTzS8AH6isQvgzpIegNnZWerq6oiMjESn03kkYdr0MUemIuW9E03L02iqv4PlnY/uKKYricbMzIytjj0/P9+WTLtziJ47Y8HWVn3tS2y2bfq2mAj43RfRXllpX7tccT/Lx/8WBMcJg8lksg2cLC0t3VJnKfuZHbIsMz8/z8TEBP39/Vy+fJnw8HBbiVVoaKhqHt4bQZIkopbHEIBhA5i1m3/QzxiWCQ3UoLUjHGtNKFfOVXeVWN13Mp1XO6b4Xcs4n6hM5UD8+iUZfkVjd8Pby8V0Ot0qtWNhYYHJyUlGRkZWqR0xMTFERERs6lh2dO/1ABYXF13S+dKPrcFPNHYBtFqt24jG0NAQLS0t7N+/n3379nH69Gmvaa27Fqzl96FpeRrx6nMIU13I0Vvrh6/AlR4G5XPNzMwkPT19lbrgTt+Et3o0nNJZyjiF/lcfQzNwHlnUYr7t37Aeet+am8/Pz1NfX09UVBR5eXk7SioEQSA8PJzw8HAyMjIwmUy2Equenh60Wq2NdERHR6umBvp6WCwWGhsbkU0m8pNCaR5e4FznNHcfTdrwtc81jfDg79v53E37+FBZyg1/X0/tcEeJVU5iKLflxvLSlQm+e7qHb70rf8PXqCUh2yl8kWioScWxnxmUnp5uUzsmJiZoaWnBarXaJpTHxMSs2T5dTa1tYUXRSE5O9vRu+Dz8REMF2Ohm5g5FQ5ZlWltbGRgY4MiRI8TFxbkttiNsZfVdjs/Dmnkbmo6X0Jz/Lpbbv7mtmBqNxuldhWRZpqOjg97e3lWfK7w+cM6dKoM3ejSc0llquhv90x9CnO5EDgjD9I5HkdJvWnP7iYkJmpqaSE1NJSMjw+kJhV6vJzk5meTkZCRJYnp6mvHxcVpbWzGZTERHR9uIhys7uDkTivqjzBU5Yeq/RjSmNkU0DGYrs0YL3/5zF6fy4tadWWGvdijXh73a4SpD+V/clM4frk7wx9ZJWobnyU9yPC0e/IrGboe3lU5tBWupHcPDw7S2thISEmIjHvZqh9qO2d91yjvgJxoqwXr18672aJjNZhoaGlhaWqKiomJVFwd3+BYcYasEx1rxeTQdLyE2/QyO/w2E3WhM3UxMZx6rMlV6bm6O8vJyQkNDXR5zPbiT1Cjx1kvGFNO3kjxuu7PUYA36X96LYJxCCk/GdPcTyHE5a24/MDBAa2sreXl5JCVtnCDvFKIo2lYSZVnGYDAwPj5um9kREhJi83VERER4ZUK3uLhIbW3tKvXn+P5ovne6h9e6prBKMhpx/f1+d+Eeflk3TNPQPP/2UgffuHtjxQBeJx32yZCrDOUZscHcURDPc01jfOeVHh5530GH29lPp/cF+BrRUO5Nakq614IjtUPpZNXc3IwkSTbSodFoVHXMBoPB4XPVD/fCTzR2AVxJNObn56mrqyM0NJSKioobBuR5cobHVpJiOaUMKaUMceA8mprvY33DV7cc05lJv9FopLa2Fp1OR0VFxZo+F3catO19E+5IGtYjNvZ+DGXbbXWWuvocAc9/HsFqwppwCNPdP4JQx62CZVmmvb2doaEhCgsLPVLbKwgCISEhhISE2B76k5OTjI+PU19fD7CqxMobppFPT0/T0NBASkoK+/fvt31PB5PDCNNrmVuy0Dw0x+GUiHXfRxQEvnpHNu959CIvtIxx19EkKjM2ZyJf9T4uNpR/9kQav2sZ51zXNHX9sxzdu/Zx+UryvVuS7s1CbfMktgKdTkdCQgIJCQk2b9nk5CRDQ0PMzc0hiiKdnZ3ExMQQHh7u1Z+BwWDwKxpeAO89Q/zYNFyV7I+OjlJdXU1SUhJHjx51OIXb3UPsdhLXWvEFADR1j4Nxxi0xHWF6epqqqioiIiIoLi5e10zvbkUD3FfysVapln1iqGy35YRNltGe/y7633wKwWrCknkK0/t+tSbJsFqtNDY2MjY2RklJidcYCHU6HYmJiRw8eJCbbrqJw4cPo9fr6ezs5NVXX+XSpUv09vayuLjokf0bHR2lrq6OzMxMMjMzV31PWlGkImPlczzXObWp98tLCuP9JSv+jH/6XRtmy87OfVEU0Wg0BAQEEBgYiF6vR6vV2s49ZVjg8vLyqnNuPeyNCuIdh1fOo2+/0rPmOexL8DWiYb8AspuheMv27dtHcXExOTk56PV6TCYTTU1NnD17lubmZoaGhjCZTJ7e3RtgNBr9ioYXwK9o7AI42zug+AZ6eno2HBbnyWGBW40r7X8jUlwu4vgVNHWPY638yy3H3GnSPzg4yOXLl8nKylo1vMyVMTcLd9fhOlJrnNJZyrqM7g//B13DEwAsF32C5Vu+BqJjE6PJZKKhoQFBECgtLfXatrOiKBIVFUVUVJRtZsf4+DgTExO0t7cTFBRkUzuc0TN/I/T19dHR0cHBgwdXeYvscWx/NC9dGedc5xSfO7n2IER7fP7mffz+8hg9k0b+57U+PnNTutP22VmG8k8fT+XZxlEu9s1S3TNDxT7HxHS3J6IK1GSMdgZ2s6KxHgRBQK/Xk5eXd4PaoZR5KmWg3qB2+BUN74CfaKgE7vJoWCwWGhoaWFxcpLy8nLCwtc2O4Dkz+La8IYKAtfzziM99Dk3Nf2Mt+TToNn8T2knSrwx86+/v5+jRo5sewucJRcOd8ezPaad0ljLNo//Np9B0v4IsiCy/4R+wFH1izc0XFhZsrZrz8vJU1VElKCiI1NRUUlNTbROCFRO7JEnExMQQGxvr9Jkd9iVmRUVFRESsXTp0bP9K6VPj4DxzS8uEB25c6hUWqOVLt2XyN7+8zPfP9nLHwQT2Rjk/Wdiofe56hvLE8EDeW7iHJ2oG+c9XeihPj1x1vvqiouFLRENtg+ucBftFKPtOevv27cNsNtu8HU1NTciyvKqTlbsXcGRZxmg0+ieDewH8RGMXwFlEQzF0BgUFUVFRsan6b08qGttJiKW8dyCf/heE2T7Exp8gFX3M5TGvJ29bkXLd3XUK3Jck2R+bff38tjtLzQ2if+ZDiONXkHVBmN/6PawHTq25/eTkJI2Njezdu3eVt0CNuH5C8Pz8POPj46tmdiiG8p3M7LBarbS0tDA3N7fh8EKAPRGBZMQG0zVhoLp7mtty4zcV5y358TxTN0x19zT//Ls2vve+Qy7/fq5XO+x/HKkdH6/cyzP1wzQOzfNq+xQ3Z70+tNRvBt/d8JXSqeuxntodEBBAYmIiiYmJq+YGDQ4OcvXqVUJDQ1epHe747PxEwzvgJxq7AM5I9sfHx2loaGDv3r1kZWVt+iaglq5Tr79Qi6Xss+he+ju05/8L89EPg7i5y2A7RMNgMFBbW4ter6e8vHzLqzre2nLWWfGu7wy0bZIx2oT+mQ8jLowgh8SzdPePkBPXngKvPPxyc3PZs2fPto/BG2G/0rh//37bzI7x8XG6u7vR6XQ2pWMrMzuWl5epr69HluUtlZhVZkTTNWHgXOfUpomGIAj8/e1ZvP2RC5zumOKPrRO8McdxeZYrsFaJlX1pX3gA3FOUxA+rB/nPV3u46UA04nXnrq8kor5INHxNzYCVhYbN3C+unxtkr3Y0NDQAuEXtWFxc9E8G9wL4icYuwE6IhizLdHd309nZSX5+/paTLk92ndpuXOnQ+5DPfnNF1bjyLFL+3Zt63VaJxvT0NHV1dSQmJpKTk7OtB5O7S6fcPbTParXavsftdpYSO/+A/jefRlg2IMVmY7r7x8gRex1uq/iPBgYGOHr0KNHRW+9qpDbYz+ywWq22QV1Xr17FbDYTHR1tUzvWmtlhNBqpq6sjODiYgwcPbqnE7Nj+aJ64MMDZzqktJaT7YoP5eGUq3z/by4O/b6ciI4qQAPc/stYrsfpwSRI/rx2hdWyR3zWP8Oa8eLd2ivMW+BrR8DXzu4LtEqzr1Y65uTkmJycZGBjgypUrhIWFOV3tUEqn/ETD8/ATDZVgvQtvu0m3xWKhubmZmZkZysrKCA8P3/J7iKLo9CF2Lo+rC8Za/Em0p/8vmqpvI+XdBZu4sW0l6VduoNnZ2aSmpm5vP7cY0xlwF9FQEpOxsTH0ev225W1t3ePo/vBlBFnCmnYTpnf8APSOz2P7sp+SkhKf7Eai0WhsakZ2djaLi4tMTEwwPDxsK29QDOXKA39+fp7a2lri4+PJycnZchJQkhaJTiMwPGuie9JARuzmv+tPn0jj+eZRBmaW+N6rPfz1mzK3eshOh73aEafT8ZHyFP7rdC+PnO1XRY+SAAAgAElEQVTnlgPRaEXBdm/yFcLha0TD18zvCpyh5AiCQEREBBERETa1Y3Jy0kY8BEGwqR3R0dHbVjvMZjNWq9Un7/PeBj/R2AXYDtEwGAy2Kb6VlZXbvpjV1HXKHtbCj6Kp/jbi+BXEjheRDrx5UzE3SsKVCeqDg4MUFhYSExOz7vYbwd1D9NxRqqWUoWRkZDA0NERVVRXBwcHExcURFxe3uaF0soTuz19Hd/H7AFgOvh/zbf8CGse+IrPZbJtD4c2dpdwJQRAIDQ0lNDTUNrNjYmKCiYkJamtrEUWR0NBQZmZmSE9P3/aE9OAADR8sTSEiSEeYfmuPnECdhv/z5gN87qdN/Oj8AHceSiQrwXsSB1EUubciladqhuiZWuIPbTPckR9LV1cXer0eSZIwm81On1DubfC1FX5fLZ2SJMnpDTMCAgJISkoiKSkJSZJsnaz6+/tvUDvCwsI2fQ8yGAwAfkXDC+AnGrsAW/VJTE5OUl9fT1JS0rZLehSoquuUPYIisRZ9HG3Vt9Gc/SZS5qkNVY2NiIZi+jYYDJSXlzvFhOZOjwa4fkCgfa17YmIiSUlJtqF0ExMTNwyli4mJuXF+y7KBgN/eh7b9dwCYT/x/WMq/sOb3t7i4SF1dHeHh4eTn56uqs5Q7odPpVj3wOzs76enpQa/X093dzczMjK3EaqsP77/ZgRJxc1Ysb8yJ5Q9XJ/iH51v58UcLb/BCeBKhei0fP5bKN//QyffO9JImjGNcXKCoqIiAgIB1DeW7JVn1tRV+XyNWCqxWq8N5Ws6CKIqr1A6TyWTzdvT3969SO2JiYtZtWOMnGt4DP9FQCTYqnVJaMa4HWZbp7e2lvb2d3NxcUlJSdrxfnjSD7zSutfQzaC4+ijjSgNj5R6TMN247pmL6DgwMpLy83GkTm91dOuXKeGt1llKG0in1uzMzM0xMTNDZ2UlTUxNRUVE2tSNIWkD/y4+gGa5D1gRgvv1bWPPeuWbMqakp29Tq6wfK+eEYsizT09PDwMCATZUzGAw2Q3lbWxvBwcG2Eix3zOz4u1MHeK1rmrqBOZ6pG+bdhd5l4H9/STL/W9XHwMwSL3VYeeDO1arZ9YZy+/a5251Q7k3wxdIptX5XO4G7j1uv169a/FC8HX19fRuqHQaDgcDAQP/CkhfA966UXQgl2V9vJdpqtdLU1ER3dzclJSVOIRlKbDWWTgEQHIu18F4ANOe+CRus5K+VhE9OTlJVVUVMTAyFhYVOIxnrxXQVXKFo2HeWUlYC10pKBEGwDaSrrKyksrKS2NjYla5of/g5wqNvRDNch6SPYOk9P1uXZAwNDVFXV8eBAwc4cOCATyVC24UkSVy5coWBgQGKi4ttpX/BwcGkpqZSVFTEzTffTGZmJsvLyzQ1NfHqq6/S2NjI8PAwZrPZJfuVFBHI529eGfj3zT90MrHgmjjbhUa2cupa/4Hf9wlIwurkxn5CuV6vJyAgYMcTyr0Jvkg0fOl4FXiSYImiSGRkJPv376e0tJTKykr27NnD4uIi9fX1nD17ljNnzvDoo48yOjpqG9a30+/p+eefp6yszDYQ9a677lr195qaGm699VYiIyOJioritttusynzCpqamjh58iRBQUEkJyfz9a9/3Wf8W+AnGrsCGo3GtkrmCEtLS1y4cIHFxUUqKiqIjIx0WmzVlk5dg7Xsc8jaQMShSwjdr6y7raNj7e/vp7a2lqysLHJzc51+E/aER8OZ8ZQkarvta4ODg0lLS6Mkdolbuh4kyDTGUvAeTmd/lT93LtHc3Mzo6OgqRU+WZTo7O2ltbeXIkSNOI9W7HVarlYaGBmZmZigtLV1zWKcysyM/P5+bbrqJwsJCQkJC6O3t5fTp09TU1NDd3c3CwoJTH6YfKE0mJzGUuSUL//Zyh9Ped6cwGo3U1NRwe1Y4SeF6xhbM/OzS0LqvEUURnU5nIx0BAQG2lVeFdJjNZiwWiypIh68RDV8tnXKFR2O70Ov17Nmzh4KCAo4fP87BgweZnp7mu9/9LtnZ2Xzyk58kLCyMS5cubfsaeuaZZ/jQhz7ERz/6URoaGjh37hzvf//7bX+fn5/n1KlTpKamcv78ec6ePUt4eDinTp2yNYSYm5vjTW96E3v27KGmpobvfOc7fOMb3+Dhhx92yuegBvhLp3YB7B9Q19/8lBar8fHx5OXlOf3mqObSKQBC4rEe/Qjamu+jPfsNlvfdvGatv31ffYDW1lbbdGRXtUn1hEfDWd+nUyZ9A5rmnxPw+79GkJaxJpcgvfOHFAdGMTs7y/j4uK3ESqndnZ6eZn5+3mc7S20HZrOZuro6NBoNJSUlm1bl7DvI7N+/n6WlJZuhvKuri4CAAJuvIyoqakdJilYU+Yc7srnnsUv8tmmUdxxOpDLDs+2JlY5cCQkJZGdn8zl5mL9/rpUfnO3lXYVJm2rHu5MJ5d4CXyMavqpoOMoxvAGK2nHnnXdy55130tPTwyOPPMJPf/pT3vCGNxAUFMTtt9/O7bffzm233UZUVNSG72mxWLj//vt56KGH+PjHP277fXZ2tu3fra2tTE9P8/Wvf529e1ckza9+9ascOnSIvr4+9u/fz5NPPsnS0hKPP/44er2egoIC2traePjhh3nggQd84jzyvjPGD4fYyKMB3LDa3tfXx8WLF8nMzCQ/P98lNwhVl05dg7XsL5A1esTBGoTes+vGBDCZTFy6dInJyUkqKipcOovBEx4NZxAbp5AMWUZ39hvoX7gfQVrGkvN2TO/9OQTHIIoiUVFRZGVl2UqsIiMj6erqYnx8HI1Gw/DwMDMzMz4lUW8Hi4uLXLhwgeDg4B2X/gUGBpKSksKRI0e4+eabyc3NBeDKlSu88sor1NfXMzAwwNLS0rbe/2ByOO8rSQbgH19ow2Rx/71HwdTUFBcvXiQ1NZXs7GwEQeDOQ4mkRgcxZVjmyQuD23rf69UOnU7n9WqHLxINb0y4XQ21HHd6ejrHjh0jJSWFyclJfv7zn5OQkMA///M/ExcXx6233rrhtVNbW8vg4CCiKHL06FGSkpK4/fbbaWlpsW2TnZ1NbGwsjz32GGazGaPRyGOPPUZ+fj5paWkAVFVVcfLkSfR6ve11p06dYmhoiJ6eHpccv7fB+88YPzaEssKlrHxJkkRLSwsdHR0UFRWRmprqsoeApxQNp8YNS0Q68kEAtOe+uW5MWKnJFEWR8vJyl3e0UKNHwykkw2om4IUvoHtt5ftYLrsP89v+C7SOB8rJsszw8DDR0dGcOHGCjIwMlpaWqKur49VXX6WlpeWGEis/YGZmhpqaGhISEigoKHBqEqHM7MjJyeH48eOUlZURERHB8PAwZ8+epbq6ms7OTmZnZ7d0zt1/SwZxoQH0Thn577N9TtvfrWBsbIz6+nqysrLYt2/f640NNCL3nVzxkvzPa33MLe1sxpAoimi1Wlt5lVJipSwIKKTD094OXyslUkvC7Wyo6bgNBgMhISHodDpOnjzJv/7rv9LY2Eh3dzdf/OIXNzyOrq4uAL72ta/xla98hd/+9rdERUVx8uRJpqamAAgLC+OVV17hiSeeICgoiNDQUF588UVeeOEFW3eukZEREhISVr238v8jIyPOPmyvhDrOGD82hJJ4m0wmampqmJ2ddflqO3jOo+HsBNxS/nlkTQBi32sIfVUOt5mengawmb5d2eZPgbs9GjuJZ2/63hHJWJpB/4v3o215GlnQYDr1EMsnvwyC49vV9PQ0NTU1xMXFcejQIQIDA0lMTOTgwYOcPHmSw4cPo9Pp6Ozs5JVXXqG2tpa+vj6MRuO2jnO3YGxsjNraWvbv3+9ys7wys2Pfvn2UlJRw0003kZaWxuLiIrW1tZw+fZqWlhbGxsY2JINhgVr+7s0HAHj0XC9dE4su229HGBgYoLm5mYKCApKTk2/4++358WTGhTC3ZOF/q/qdFnctQ/n1aocnSIevKRq+RqwUeJNHYyMsLi4SFBR0w+8fe+wx3va2t9k6vTn6uXjxou36+fKXv8zdd99NUVERP/zhDxEEgV/84hfAij/rYx/7GMeOHaO6uppz586Rn5/PW97yllXPl+uvDWVhxVeuGb9HY5dAo9EwOztLR0cH0dHRFBQUuOWG4KnSKafHDd+DdOh9aOr+F+25b7Kc+vSqP/f19dHa2gqwagXT1bBXqtwVbzuKhkIylJvzdkmGMNOH/ukPIE51IAeEYnr7fyPtu2XN7YeHh7l8+TJZWVm2Gll7KCVWSpmVwWBgfHycsbEx2traCAkJsXkINjUocJegv7+f9vZ2CgoKiI+Pd3v864d0KS2N29vbMRqNREdH29rnOlINT+XGcSIzmjMdU/zD8208/uEjLv/uZFmmu7ub3t5ejh49umadt0YU+MIt+/jCz5v53/MDfKA0hegQ5w+ItJ/DYd8+1xMzO3zNs+Brx6vAWz0ajmA0Gh3eO+677z7uueeedV+bnp7O/Pw8AHl5ebbf6/V6MjIy6OtbUVKfeuopenp6qKqqsn0uTz31FFFRUTz77LPcc889JCYm3qBcjI2NAdygdOxW+ImGSrDRTU1pS3ngwAHS09PdmggrSaY7b0CuKCmyVHwBseFJxJ7TCAMXkFNKbZ/r6OgoxcXFq1Y63AF3m8G387nazwdQ3mNbsYfr0D/zYQTDBFLYHkx3/xg5Ps/htvZJ3+HDh4mNjd1UDKWLVVpamm1Q4Pj4OHV1dYiiaEtuHQ4K3AWQZZmOjg7b5HpndqDbLkRRJDo6mujoaLKyslhcXLxhZoc9GVRI7N/fnsWd37tATe8MzzaO8I7DSS7bR1mW+X/svXl8Y3W9Pv6crE2XtGmb7vs+02mnOy3DNuCAIKhsouxcEUEEBbzqVb8KP70uF69+FfWCG1fhivhlB3GYGWaGYWCYpUm6N933JUubNvtyzvn9MfcckzZp02Y9aZ7Xi5fCZPI5yck55/N+v59FrVZDo9GgpaXFpyMXgyuqM1Gbm4K+eSP+8OFUQIGF/iDSgvKdNtHgEoUomODS57ZarV5Dc5l7/GZobm6GWCyGWq3GRRddBABwOp2YmJhg9RcWi2VdU435d+Y52tHRgW9961twOBxsts6hQ4eQl5eHkpKSQD8mJ8CNX0wcPsFshB0OB0pLS8PabQc8H2zhBLMhDuomPLUQVN35Tofgg5/B4XCgs7MTy8vLaG9vh0wmi6kAPW/YqkbDfZIRyOaFP/Q2xC/ccL7IyNoD++1v+SwyGA0Sk/Xgb5GxFkxQIEOxqq+vh1AoxMjICEuxmp6ejhmKFUVRrB1wa2trVBQZ3pCUlITi4mI2s6O8vBwOhwNdXV1477330NPTg/n5eWQnC/DAJSUAgCcPj8JgCUwP4QsURaGnpwd6vR6tra2bFhnA+evo4f3ntRp/OTsLjdEekmPzhXALyndaobGTqVNc+dxmszkgDaVUKsX999+P733vezh06BDUajUeeOABAMDNN98MADhw4ACWl5fx4IMPYmBgAH19fbjnnnsgEAiwf//5Sfytt94KsViMu+++G729vXj11Vfxwx/+cMc4TgHxiQan4XA4oFKp4HA4IJVKvVbvoYb7wyucHWD3AieYFDFXx8Pgdb8A3thR9B9+DvzcRrS3t7OfLdYLja2sFyxnKUHn7yA8+jgI0CDLroD9uqcBsXdbWqfTia6uLrhcLrS1tSEhwbs4fKtYS7FiuuqLi4tQq9Wcp1g5nU50d3fD5XKhtbXVwwElmiEQCJCdnY3s7GzQNI3V1VVotVpMTk6ir68Pe1KkKE4TYtLgxE+PjOAHn9wV1PVdLhf7e2ttbfVI+94MF5Wno6kwFYrpFfz25CS+c3VVUI/NX/iiWK1NKA9k2rHTCg0ubbiDCS5pNKxWq1eNxlbw5JNPQiAQ4I477oDVasUFF1yAo0ePsrTJmpoavPnmm3jiiSfQ0dHBOlQdPHgQubnnJ6ypqak4fPgwHnzwQbS0tEAmk+HRRx/Fo48+GvBn5ArihQZHsPYmzvi3S6VSNDU1QaVSRUQrwRxXuNd2f3AG9cYnK4Gl4jokDb+GXZo3IbrmX9aNRbkizt7uev5MNJgpRkBFBkVCePS7ECr+CABwNtwJ58f+HeB5vy1ZLBYolUokJiaioaEhpIVtUlIS21n3RbGSy+VIT0+PeooV476VkJCA5ubmqD9eX3DP7KioqGAzO+6unccTHzjximoBjTIHLttdwE4fA4HD4YBCoYBIJNrW90YQBL6yvxR3/VmFv3XO4Z6OQuSnBbbxCRS+KFbuRg7A1ouOnVho7KTPC/yzSOVKgWWxWCCXywN6D6FQiJ/+9Kf46U9/6vM1Bw4cwIEDBzZ8n7q6Opw4cSKgY+EyuPnE2eFYWFhAT08PysrKUFZWBoIgIibKZtaOBHUKOF/gBOL77w6apjE5OYk58cW4jHgD0oUP4VjsAZ1T77FuLGs0NitsmC7odpO+WTjMEL/5APijh8//62Xfhav1fp9hiQaDASqVCrm5uaiqqgrrQ56hWOXk5KwTLttsNshkMnbaEWgHLdgwGo1QKpWszSxXNgn+gMnsuKWgAL3mAbysWsAz51aQTq2AJl3IyMhg+dhbneBYLBYoFAqkpqYGlEHUWiJDR6kMp8aX8V8nJvGDT9Zs631Cha0Kypn/vxY7rdCgaZoznf1gwd3ogwtg7G3jiDzihQbHMDQ0hKmpKezdu9fDLSZShUak1l4ruAoUFEWhv78fGo0GTRdfB4o+BX7fS+C//yRcNz/nsW60UpmCtZ6vwmatsxRjBbhlmBaR8PId4C32gBYkwPGJp0BWX+vz5QsLC+jv70dFRQWKioq2vl4Q4Uu4vJZiJZfLIZVKI7r5WlpaQldXF4qLi8Ou3Qo3HjtQgWNDeswYnVATpbitNQM6nQ6zs7MYGBhASkoKO4VKSUnZ8LtgpsU5OTlBKWof3l+KU+PLeL1rAffuK0JJRmizd7aLQATlXOp0BwM7daIBcKfQCAZ1Ko7gIF5ocAQkSaKzsxNmsxnt7e1ITvbksEcqz4JZOxJBUcFa1+FwQKlUwuVyoaOjAxKJBOS+x8DrfwX8kXdAzilA5zUFdU1/ES3rBctZitAOnrevNc6BTsyA/YY/gcpr9vpamqYxMTGB8fFx1NXVBTwGDwXWUqx0Oh10Oh0UCkVEKVaM7e+uXbuQl5cXtnUjhTSJEF+/sgLffG0Az5ycxDV7sllzDIfDwZ6XqakpNkiQcRdz70wzxVlJSUnQ3Pv2FqRif1UGjg3p8ev3xvHkDbUBv2c4sHba4f6P+7OGoVvupI33TtRouE+xuYD4RCN6EC80OAJm08I446zFTptoAMEprty1Lu48bDqjHNSez4Df81cITvwYzs/+jV1zp2k0giL6BsCbOAHxa/eCcBhBycphv+l50LISr69l3NT0ej1aWloglUq3tWY4IRQKfWZDuFOs5HJ50ETsa8HQ/8bGxtDQ0ICMjIyQrBONuK4uG691LeCj8WV8/201fnvbXhAEAZFIhLy8POTl5bHnRavVYnh4GD09Pex5AYDh4WFUV1d7DeILBA9dVoZjQ3q83avBF/YVoyrbu9lBtMIbxYopOlZXVwGc34g6nc6Q2OdGG3ZioRHo/T/c8JWjEUf4sbOuFA6DIAiUlJT41CPsxEIjUG2IRqPB6dOnkZeX51Vc7LroMdA8AXjjx9m08GiiMoUCawubYBUZ/O4XIH7pNhAOI8iCC2C7/U2fRYbT6YRSqcTq6ira2to4UWSsBUOxqqqqwr59+9De3o709HQsLi7i5MmTOHXqFEZGRrCyshK088tkPUxOTqKlpWVHFRnA+d/ud6+pgpBP4IOxZbzdp1n3Gua8VFdXs+clIyMDU1NTGBwchFAohMVigcFgCOp1V5OTjI/vzgIN4Knj40F730iASSgXCoUwm83o6elBeXk5WzyHwj432rDTqGIA94qr+EQjehCfaHAIGzkCRbLQiBRta7ubfoaSMzIygj179rA2dOuQVgxq723n08JP/AjO216PGipTKNdjfmNBcZaiaQhP/gTCU78AALh2XQ/H1T8HBN7FuVarFUqlEhKJBK2trZx1SFoLhmJVUlKyIcVqLZXHX5AkiZ6eHlgsFrS1te1YbnJJRiK+eFExfvXeBH50cBj7ytKRlujbLCIxMZHdFDc2NoIkSWi1WqhUKgDwoFgFajrx5ctKcGhAg3fVOvTMrqIun3sFtDu0Wi16eno8JkBrBeXumq7NBOVcwk7VaHBJAG+xWOITjShBbDzF44j4RCNSGo2tfmYm7E2n06GtrQ2pqakbvt514SPgdf8VvOmPQEy8Bx4vNazfcySoWmtdZ7ZdZLjsEP3jEQgGXgUAODsegfOif/XpLLWysgKVSoWsrCxUV1dzfjPiC94oVt6oPP5SrJg8HYIg0NraGjQXNq7i3n3FeLtPgzGdBf9xeAQ//JT3bA2apjE4OAitVovW1lZW98ZkdqysrECn02F8fBy9vb1IS0tjC8LExMQtXxNlmUn4ZH0OXutawFPHx/Hb2/YG/FkjBUYDtGfPHmRnZ7P/PdIJ5eEC17r7wQBJkpz5zDRN+0wGjyP8iBcaMYJIFxpcoE7Z7XY2b6Sjo8M/nrw0D2TT3RCcfQaC934MXsOPY16jQZKkh5/+tooM6xLEr/4L+DOnQfMEcFz1JMj/TV33hsXFRfT19aG8vBxFRUU7plvo7mJVXV0Ns9kMrVbLulglJyezm1tvLlZMtkhKSgpqa2s51XEMFUQCHr5/XQ1uf1aB17oWcF1dNjrK0j1ew6SkG41GtLa2rpsAEQSBtLQ0pKWloaKiAlarlZ1CjY6OQiwWs5bGW8ns+NIlJXirZxEnR5dwbtKAluLoTGffCNPT0xgeHvZLA+SvoJx5HZc2slw51mCBa8VVXKMRPYgXGhzCRpuvSFOnot11ymg0orOzE2lpaairq9vShozseAh81XPgzSsgKzgDe9L+7R7ylhFOjQbz8GQEzFlZWdtKwSaWJyB+6XbwlkdBi1Jg//TvQZVc4nNNRry8Z88eD8vmnQhvFCutVuuVYmUymaBSqYJmwxpLaCxMxWdb8vHCuVk8/vchvH5/KxKE56/57aR9SyQSFBYWorCwECRJYmlpCVqtFn19fXC5zmd2MIXHRu9XIJPgxsZcvNg5h18cG8Of72rkzHljKKcTExNoampCWtrWiqSNBOVcm3bsVOpUtJ4Pb4hrNKIH8UIjRrATJxr+Uqc0Gg26urpQWlqK8vLyrT8gkrJANn8ego+eQv7Qf2Ok4OJtHvHWEa4ijuFVFxQUIDExETqdDl1dXQDgsbndTDPBmz0H8St3gbAugZLmw37j86Dl3kPKKIqCWq2GRqNBc3PzpjS2nYaNKFbd3d2gaRpZWVkoLi7ecZsef/DIFWU4qtZhetmK37w3gUc/Vg673Q6lUgmRSISWlpZtTYD4fD5LbaNpGiaTCVqtFjMzM+jv74dUKmWvmeTk5HXn5osXF+NV1QI6p1bw4dgy9pWn+1gpekDTNIaHhzE/P4+WlhakpKQE9H7+JpQzr422aQfXNt3BAEmSnJmY0jQd12hEEeKFRoxgJxYam1GnaJrG+Pg4RkdHUVdXh5ycnG2vRV7wIPiKZ5G4MoKUmeNAjXfed7ARjkLDXbwpEAiQnZ3twVPXarUYHR1FT08P0tPTfeoH+Oq3IHrryyBIO8jsethv/DOQnO11TZfLhe7ubtjt9h0tXvYX7hSrpKQkqNVq5OTkwGq14uTJk5tSrHYiksUC/J9rqvDlF3vw7KlpXFYuhWVWHXDatzsIgkBKSgpSUlJQVlYGu90OvV4PrVaLiYkJCAQCjywVPp+PHGkCPteShz+dnsEvj43hwjJZVJ8vmqY9rKZD0SXeKKE8GgXlcepUdMNqtQLAuryxOCKDeKERI4hTpzxBkiT6+vqwtLTkl+h7UySmg2y7H4KTP0XOwB+By+8DeKHv7oRao7GRs5Q7T72yshIWi2WdfkAul0OemYn0wecheu8HAABX+ZVwXPdfgMh7N8lms0GpVEIsFqOlpWXHi5f9BU3TGB0dxfT0NJqamiCTyQDAK8WKofFs18UqVnB5dSau3CXHoQEtvvVqL352dS521VSHbGMvFos9MjuWl5eh0+mgVqtht9uRnp6OzMxM3N6cjb8p5tEzZ8TRIR2uqI6+MErgn1oWk8mE1tbWkOW/uIMLgvI4dSq6YbFYACA+0YgSxAsNDiFaNRp8Ph92uz3s6/qiTtntdigUCgBAe3t70B6OZOv9wOlnIDFNwtn/Cqg9NwflfTcCc2MPdvIuTdNs15BZZ7P3T0xMRHFxsUcKtnZxAdIT34NI+y4AYHXXrSA+/iPwhd556qurq1AqlZDL5aipqeHMgyvSoCgK/f39WF5e9nBIAnxTrIaGhjw2t6EMCoxmfKldjveHtJgyAacNidgdpg0ij8dDRkYGMjIyUFVV5VGoGwxqXF4gwt/Hgf97ZASXVWaAH2XXAkmS6OrqgsPhQEtLi19allAgGgXlXNp0Bwtc+swWiwUEQcQn5VGCeKERI4j0RCNaqFOrq6tQKBSQyWTYs2dPcLu5CVIs7boDWd2/geD9J+HY9WmAH9puvPsDNlifhSkwGJH5dh4eQqEQuekpKPnga+Brj4IGgZk9X0J/yqVwvn/SqzhWo9Ggt7cXZWVlcV3BFsCIl51OJ9ra2iAWe88gATwpVu6b24WFBY8pVGZm5o6gWC0uLmJmuA8PdOTgZycX8avj4zhQI0eBLLwbEIIg1gn9i+c0ODYzjFG9DT9/6T18fLecpVhFesrndDrZLJHm5uaIHw+DaBGU70TqFJc0GozjVKzf37iCeKERI+Dz+exNN9w3wGjJ0VhYWEBPTw/KyspQVlYWkpuMofoWpA3+BSLDBHi9fwO197agr+GOYBca7g/mQJK+CeM8xC/fAZ6mD7QgAY7rfoOMyqtxkZs4dnp6mhXHCnVt5xMAACAASURBVIVCLC0toba2NiCtzE6DzWaDSqVixctbCTD0trllKFZTU1MxT7FibFjr6uqwPzMT70/bcXbSgCf+rsZvb9sb0U2IUChEZXE+7t3nxC+Pj+PIghjX7hVhbGyMzVJhwgLD7ZzjcDigUCggFotRX18ftb+LSArKudTdDxa49JnNZjMkEkm80IgSxAuNGIH7zTYShUakXKdcLhdomsbY2BjGxsZQX1/vESAVbBCiJMyWfgal6t9CcPI/4ai9yWfKdTDgXmgECneBZUBFhqYP4pfuAM80DzoxE/YbnwOV23D+z9aIY61WK/r6+qDX6wEAIyMjWFlZgVwuR1paGmceXJGAyWSCUqlEeno6du3aFfB35Q/Fiik8uEyxYu4HU1NTHjasT1xbjU8/fRYfjC3jzZ5FfLI+8gXvHRcU4LkzM5gy2NFvTcENHVVsZgfjMCaRSFjqW6ivGZvNhs7OTqSkpGDPnj2cuj63Iihn8oG2+/niGo3ohsViidOmogjxQoND2EyjAZynWWyl6xkMRNJ1ym63o6urCwaDARdccAGkUmlI1+TxeJjP+zhKZt8AsToDnuo5UC33hmw95pwHWmgEq8jgjR2F+PX7QDjNoDIqYb/pf0CnFnp9rcvlwuDgIBwOB/bt2weRSMQ68vT09ICiKA/r3GihZ0QDlpeXoVKpUFRUFJLpnC+K1fz8PAYHBzlLsfKV9g0AJRmJeOCSYvzi2Dh+cmgEF1ekQ5YYGd0BgySxAPfuK8KTh0fxm/cmcG1dtkdmh8vlwtLSEnQ6HXvNZGRksNOOYOomzGYzFAoFMjIysGvXLs6cc2/YTFDO3E+3Q7Fi9G1c2XQHCxRFceYezWRocPk3HEuIFxoxAuZmGanJQiSoUxRFQavVIikpCR0dHRty14MFHo8HFyGEa9+jEL7zdQg++BkcdZ8FxKGx0WM6b9sN7WMeiswDNpAig696DqLD/waCJkEW7YP9078HEryHdjGUH6FQiNbWVvYBlZWVhaysLNY6V6fTYXx8HL29vZDJZKx17k7uRjEp6VVVVSgoKAj5emspVg6Hgy0I3SlW7hat0QiSJNHb2wuz2ew17RsA/uXCIvyjT4MhjRk/OTSCH396dwSO1BOfa8nHf5+axtyKDS8r5vG51nz2zwQCgcc1YzQa19ESmYLQW2aHvzAajVAoFMjLy0NFRUXMbdA2mnZslWIViLaNyyBJkjOTTqvVuqOfIdGGeKERQ4iUViISE42VlRVMTU1BIBCgra0tbDd9pqii9t4G6szT4C2PgX/mNyAv/nrI19wq3PUYwD+Llq2/EQXhiR9BePpXAABX7c1wfPynAN97N9VoNEKpVLKdUW/nxt06t6KiAhaLhaWLDA0NISkpid3ccqmjHigmJyfZ3Be5PDKWpyKRyCvFyt2iNdooVk6nE11dXaAoakOHJCGfhyeurcatf1Tgje5FXLsnGxdVZIT5aD2RIOTj/otL8P1/DOHp9ydwfUMOm2LuDoIgIJVKIZVKUV5+PnxQp9OxxbpQKGQnHVspCA0GA5RKJUpKSlBaWhrsjxd1cJ92bEdQ7n4/3UngGnUqbm0bPYgXGhzCZjc2Pp/P3iTDiXC7Ts3Pz6O3txeZmZlwuVxhvfmxm36+EOSl3wLvtXvBP/NfIJvuAZJCszHcTqERDGcpAIDLBtHfvwKB+g0AgGPfv8J14SOAj98iQ4sqLS1FSUmJ3w/jxMREFBUVoaioCE6nk+2ou+dCRHtHPRDQNI2hoSEsLCxEVUr6WoqV2WyGTqdbR7GSy+VISUmJyObLPe27sbFx09/H3oJU3H5BAZ47PYMn3h7C6/e3IVEU2d/UjU25+MOHU5hbseGFc7O4p6No078jFouRn5+P/Px8NrNjqwWhTqdDd3c3KisrUVjonQIZy9iOoNxd67GTwLVCI9wmCnH4RrzQiCFEcqIRjnVpmsbIyAgmJiawd+9eOJ1OzMzMhHxdd7g/aKia60DlNoI3rwT/g5+DvPKHIV/THwTLWQoWPcSv3gP+7FnQPCEcV/8nyFrf2SGMy8/u3bsDcpYSCoXIyclBTk6O1466u3VuOOhyoQZD+WFC0aK1E0cQBJKTk5GcnOyVYsXn89elYIcaFosFCoUCaWlp2L17t98boYf3l+LIoBazBhueOj6Ob1xZEeIj3RgiPg9furQE33ljEL//YAqfacpDktj/x7N7ZgdN014LwrXJ8YuLi+jt7cXu3buRm5sbwk/HHfgjKGcyoyLl8hgpcMneNi4Gjy7EC40YQiRF2aFelyRJdHd3Y3V1Fe3t7UhJScHCwkLYCyuPTT9BwHXZdyB64UbwlX8C2XofICsJ+ppb0WgEzVlqaQzil24HzzAOWpwK+/V/BFV0oc81h4aGMD8/7+HyEwx466hrtVrMzs5iYGCA5ajL5XJOiv+YvAKaptHa2hqxULTtYC3FylsKdigpVkz4Y25uLiorK7d07pNEAnz3mmo88EI3njs9jatrs1CfH1ojic3wyfps/P6DSUzorXju9Azuv6RkW++ztiBkbI11Oh07IZRIJDAajXG76Q3gbdrhdDoxOTmJxMREtvCIZEJ5OMGloorJ0YgjOhAvNGIIkbSZDeW6NpsNCoUCfD4fHR0d7GYsEiL0tWvSJReDKt0P3vgxCE78GK5PPR3yNX3BvesWkLPUzGmIX7kHhG0ZVGoh7Dc9DzqjyutrSZJET08PzGYz2traQnpzd99AlZaWshx1rVaLsbExiMVitujggnWu1WqFUqlEUlJS8MMlw4y1KdihplgtLS2hq6uLpehtB5dWZuDaumy81bOI77wxiJe+0AKRIHK/GQGPhy9fWoqvvdKPZ09N43Ot+UiVBO7ys9bWWK1WY3Z2FmKxGL29vZidnWULwvjmbGOo1WqYzWY0NTVBJBJtW1DORXCp0IhTp6IL8UKDQ/BHoxGpiQbjbhTsjjIjVJTL5euoEZFIJPe26Xdd9h2Ixo+B3/8KyAseBJ1TF/I13cF898x3EZCz1MBrEL39FRCkA2RuI+w3/Mmn9oThxvP5fLS1tYXd+tCdo06SJJaWljhjnct047Ozs1FdXc25ScxG8EaxYjrqk5OTEAgEAVGsGMrPrl27kJeXF9CxfuuqSpwaW8KI1oxnTk7iocsiK4b+eG0WfntyEkMaM549NY2vXl4WtPdm8kUWFxfR1tYGqVTKmjDodDoMDQ1BIpGwRQcXivVwgZmo2+12D7MBd9qwu31uuBLKwwmuFRrxojl6EC80YgiRLDSA8zfaYGZ4zM3Noa+vD5WVlSguLl63GYuEJsXbpp/OqQO5+wbw+1+B4PgP4PzsiyFfk107aM5SNASnn4LoxI8AAK7Kq+G49leA0PvN2mg0QqVSQSaTbYkbHyrw+Xy2Y07TNFZXV6HVatdZ50ZD15YR4JaVlXn9XccaRCIR8vLykJeXFzDFitEB1dfXB8WVKy1RiO9cXYVHXurD705O4kCNHDU5obGq9gc8gsBD+0vx0Iu9eO70DO64oAAZSYHT6WiahlqthkajQUtLC5sv4m7CwGR2uBfrjB4qIyODU7S+YIIkSXR1dcHpdKK5uXld04K597lrO9z/iZVpB5c0GlarFTKZLNKHEcf/Il5ocAwb8fUjXWgEa9NP0zSGh4cxNTWFhoYGnxuKaKBOMXBd8k3wBt8Eb/wYiIn3QZdcHLQ1fZ3zoDlLkU6IDn0Tgp6/AACcLffBedl3AZ73hwoTHhaqMLlAQRAEUlNTkZqaioqKClitVmi12nXWuZmZmUhNTQ3r8c/OzmJwcHDHCnC9Uay8BQWupVgx3fjp6emg64Cu2p2FK3dpcGhAi2+/MYC/fr4ZQn7kNoKXV2WiLi8FPXNG/P7kJL5xVWVA70dRFPr7+2EwGHzmiwDrMztWV1fZKVRfXx9SU1PZSRQX9VDbgcvlYjVUzc3NfjXSwplQHk7EJxpxbBfxQiOGEKlCg3ngBGNtl8uF7u5umEwmtLe3eyT7rkWkqFNe3UZkJSAb74Kg8/fnpxp3HfRpAbudNddNUdyKjG1PMQDAvgrx618Af+IEaIIH5xU/gKvpHp8vn5mZgVqt5tRGWSKReLXOVSqV4PF4HhSrUHXsmI3y1NQUGhsbkZ6eHpJ1uIS1mhtfFKvMzExotVro9XqPbnww8e2rK/HR+DIGFkx49tQ07ruoOOhr+AuCIPDw/jJ84X+68MK5OdzdUYRs6fbc1RgNldVqRWtrq98ube7Fenl5OWw2G3tuxsbGIBKJ2GJdJpNxptO9FTidTpYa6o9tsjeEMqE83OBSoREXg0cX4oVGDCGShUYw1rZarVAoFBAKhWhvb990VB8p6hTg/aZL7nsE/J4XwJtXgqd+C1TNdUFb00OAHqQig1idhfjlO8DTDoAWSmC/7hlQFQe8vpaZMs3NzaGpqYmzY2lf1rlDQ0MeNB65XB4061yKojAwMAC9Xo/W1taQbJRjAd4oVhqNhqXxpKenw2AwQCgUBt3WWJ4sxrc+XolvvjaAX783jiuqM1Euj5yY9MIyGZqLUtE5tYKn35/A9z5RveX3cLlc6OrqAkmSaGlpCUinlJCQgIKCAhQUFIAkSZb+NjAwAIfDgYyMDLYojJYQx0DgcDigUCggFotRX18ftEIqmAnl4QaXCo24GDy6EC80OIaNqFM8Hi8igX3M2oEUGsvLy6w41leatLc1w+1lviFNLEkOsu1LEJx8Evzj/w6q8uMAP3ARskd2R5CcpYiFbohfvhM88yLopCzYbvwz6Jy9Xl/L5DwYjUa0trbGzA3cl3Xu3NwcBgcHkZKSwhYdycnJ2/qumQmd3W5HW1tbTGzCwgEejwepVIrx8XEkJyejqqoKBoOBpVilpKSwk6hgBQVeV5eNt3sXcWJkCd95YxDP39MEPi8y9CCCIPCV/WW4809KvKycx+cvLEKBzP9cAIfDAaVSCYFAgKampqBq55i8lMzMTFRXV/ukv2VmZrKZHVyC3W6HQqFAYmIi6urqQvZs2WzaEU2CcuaYuDK5ilOnogvxQiOGIBAI2DChcCOQ6cLs7Cz6+/tRVVWFoqIivx9M7jfocN2A3btR3kC2PQC+4lnwlsfA6/4LqMa7Al6TIIh1wsKA7GtHj0D8xhdBOC2gMqvP29dKC7y+1m63o6urCwRBoK2tLWYFob5oPIygnKGKyOVyyGQyv35vjCuXUCgMuKO808Bs9hISEljaikwmW3duguFixYAgCDx+bTU++V9n0DW7iufPzOCu9silZbcUp2FfmQwfjC3jNycm8MNP7fLr7zF24ElJSSHdKAPerxv3EEd3amJ6enpQC55QwGazobOzE1KpFLW1tWHd2K+ddkSToJxraehx6lR0Ibqv+ji2hEhRp7a7NhP0Nj09jcbGRmRmZm7p72+26Q8FGKqSzzXFyXDtewzCw/8GwftPwlF7EyAKbALATKrci4ztQqD8bwiPfBsETYEsvgT2T/8OEHsPKjOZTFAqlWzqMle6WcGAO42HoYpotVr09fWBJEmPdHJvBYTZbIZSqURqamrYNyxcx2Zp394oVmuT45nN7VYpVjnSBPzrgQp87y01fnF0DJdVZaA4PXIblof3l+GDsU680b2Ae/cVoSxz43sJ893JZDK/J8PBxNoQR4PBAJ1Oh5GREVgsFqSnp7PTkGjbCFqtVnR2drJOepGcxPiiWK11GQyXoJxLhQZN07BarTEzeY8FxAuNGEIkxNHua29lw8/wh81mMzo6OrZ1U4hEocGsu9GaVOMdoM8+DcIwCf6Zp0Fe9Ni212J0GAsLCxAKhdvXDtAUhMe/D+HZ84GCrrpb4bjyxz6pXXq9Ht3d3SgsLER5eTnn6A/BhDtVpKamBkajke2m9/X1IS0tjZ12JCYmwmAwQKVSIT8/HxUVFTv6u9sqVldXoVAokJeX51fat7uLFU3TXulvW6VY3dSYi3/0afDR+DK++6Yaz97ZAF6EzmFdvhSXV2fiqFqHX783gf+8sdbna00mEzo7O5GTk4OqqqqI/+7WUhOZzA5GE5WYmMiem9TU1IhuYs1mMxQKBXuNR/q7c0c0CMq5VGgA589nvNCIHsQLDY5hoxugQCDgxESD6bqJxWJ0dHRsm1LC3FCjIbTPA3wRXJd+G8LX7wP/o6dANtwOJGdveR2mi1VWVobFxUV28ySVStmNrV82k04LRH9/CIKhtwEAjou/CVf7wz5dsRgL1mAEosUaCIKAVCqFVCpFeXk5rFYru3kaHh6GSCSCw+FAYWFhvMjYIpjidrtp3xvR3xiKFTOF2ohiRRAE/r9rq/Gpp8/g7KQBf+ucw2db8gP8dNvHw5eV4phah3/0afCFfcVecz5WVlagVCpRWFgYlZbTwPrMDr1ez2bKMAGbzD/hpBkyBVpubq5fxW2kEQlBOUmSAdF1ww2r1erTxjmO8CNeaMQQIjnR8LfQWFpaglKpRG5uLmpqagK+CUZTloY7qF2fAnX2GfDmOiE48RO4rvnZltZwf3hIJBKUlpaitLQUdrsdOp0OGo0GY2NjEIvFyMrKglwuR1pa2voHgVkH8St3gT+vAM0XwXH1/wW5+3qfa46MjGBmZiZuweonJBIJCgsLUVhYiPHxcYyNjSEtLQ3z8/OYn59nC0Iu8NMjiYWFBfT396OmpiZoxa0vitXg4KCHU5K3KWGBTIJHrijHDw8O46dHRnFJZQbyUiMj5K/KTsbVtVl4u0+Dp46P49efrfP486WlJahUKlRUVKCoqCgix7hVCAQCZGdnIzs72yNg0z2zgykKQ5nZYTQa0dnZiYKCAk5ObsMlKOeS4xRwvpkZd/eLHsSffDGESGo0/Nl8z8zMYGBgANXV1UF7IEZroQGCgOuKJyB67lrwuv8CouVe0Fm7N31vmqY9eLhru0hisRj5+fnIz88HSZKs8LKrqwsAkJmZiaysLGRkZEBgGIP4pdvBW5kCnSCD/fo/gips97ouSZLo6+vD6upq3IJ1i3C3/m1paUFqaiooisLKygo76bDZbFtKwN5JcE/73qpOy1+4U6zcnZI2chi7tTUfB/s0UEyv4PG31Hjm1vqIbUS/fFkpDvZrcGxIh66ZFewtSAUA1v6Xy9PHtQGbTGaHVqvF6OgoxGIxWxD6a8TgD1ZWVqBQKFBSUoLS0tKgvGekESpBOZcKDZIkYbfbo04DtJMRLzRiCNEqBqdpGoODg2wGQ0ZGRljWDRX8LW7ogjaQNZ8Ef/ANCI4+Dudn/7bx630I/XyBz+d7JPkymRDDw8OY+/BvaBv7BXguE8jUYjhu/h/Q6eVe38fhcEClUgFATDtLhQIURaG3t5ct0BheMI/Hg0wmg0wm85qAzWgHsrKytm2dy3XQNI3R0VHMzMwEPe17I2xEsZqYmPCgWD3+iUrc9DsFTo4u4dWuBdzQEJmQypKMRHxqbw5eVS3gqePj+P3tDZifn0d/fz/q6uqQlZUVkeMKBdZmdiwtLUGn06G/vx9Op9Mjs2O7eSrLy8tQqVQoKytDcXHkwhlDiY0E5e7TDn8E5Qx1iguwWCwAENdoRBHihQbHsNnGM5ITDW9rO51OdHV1wWq1or29PegXf9RONP4Xrsu+A97wQfDGj4MYPQq6/HKvr3N/CDBrbAUEQbAb2xpHN8Sn/gME5cSKtBqnih5Gwogecjlvna6DcUdi7Bx3krNUoGB+2yRJblqgJSUlISkpCSUlJeu0A4zIP9gd22gGTdNsiGGo0r79xWYUqxurkvDCgBU/PjiMjlIZciNEofrSJSV4s3sRH44t460zaiSaZtHQ0BDUxk20gc/ns9cGTdMwmUzQ6XSYnZ3FwMDAtsT+er0eXV1dqKqqQkGBd1vvWIMvitXa5pYvihVFUZx5NsQLjehDvNCIIUTbRINx8pBIJGhvbw+JwC/aCw3ISkA2fx6CM/91fqpRegnA87zsNqJKbQk0DcGpn0N08kkAgKv6Wgiv+SUuoHjQarXQarUeug6xWIzR0dG4cHkbsFqtUCqVkEgkbM6Dv1i7sV1aWmKtc10ul4d1bixOl5gASLPZjNbW1qiikXmjWBUvanBmbhqjKyQefv40fvzxgohMovLTJLipKRd/PTeHZz6cw5/vaoRMJgvb+pEGQRBISUlBSkqKxyRKp9OxmR3MdZORkeH1mtRqtejp6QmqFoiL2KqgnEvUKYvFAj6fH5P3Tq4iXmjEEJjQPMYSNRJrM9Dr9VCpVMjLywupXWA0U6cYkBc+An73X8HTDYLX9RdQjXeyf+Z+gw+oyCAdEL3zdQh6XwQAONsehPPSbwEED2LAg4qg1+sxOTkJg8EAPp8Pu90OrVbr8+EchyeMRiOUSiVrhRnIA5gJNFtrnTs1NYX+/n5WFMtMorgOp9MJlUoFmqbR2toa1SGGDMWqIjkZv7wtBzf89iz69BRe79WhIeX8JMpdOxDqa4emaVyZT+FlBTC6CvTqKVy8c+qMdVhbsLtTR3t6eiCTydjCQyKRsHqW2tpa5OTkRPrwowb+CMrtdjsIggBJkhFNKPcHTFhfvHEWPYgXGhzDZtQp4HzHMNwON8yGFQCmpqagVquxa9eukI+mo36iAQCSNJAXfQ2CI9+G4MSP4dh9AyBO9hDqBVRk2FYgfu1e8KdOgib4cB74IVwNd3p9KY/Hg9FohMlkYjvx7g9nRrC87byOGAdjwVpSUoKSkpKgPszWWufabDZ2EjUyMgKJRMKeG68OY1EO97Tv+vp6ThW1pZmJ+OrlZfjJoRH8ZcCOm+9rRyJthVarxcDAAOtixWxsg33t0DR9XqOwuoRbmnLw/LkF/PLYOC4qT+fc7yAUcM/sYCZRjDufWq2GSCSC3W5HeXl5TOlZQoG10w6TyYTJyUnk5uZGPKHcH5jN5nihEWWIFxoxhEgWGoxGo7+/H/Pz82hubg6LPWpU5mh4Adl0F3idfwBveQz8U7+A85J/80j63u5NkViZPu8spR8CLUyC/VPPgCq7wutrKYpCX18fDAaDh7OUTCZDZWXlOieeLed1xDjm5uYwMDAQNoefhIQE1jrX5XKxFCt3hzG5XH7eYSzKrXMZGiWTuhxtmxN/cMcFBTgyqEXn1Aq++5Yaf7ijgaVYedMOrHWx2i4oikJPTw9LNasleXilW4u+eSPeVevwsRp5ED9lbIDRRBUXF2NqagrDw8NIT0/H1NQUpqam2KIwIyMjqqdqkQZDEc3NzUV5+XkzEW+C8lCGBW4V8QyN6EN0P53i2BKYCzxSOg29Xg+RSISOjo6wWcutpWyFA9uaovBFIC//Lngv3w3+2Wdgr7sNkOazbh/bOo55FcSv3AnCrAWVnAP7jc+Bzt7j9bUOhwNdXV2gKAptbW3rOq5rnXgYOhWj60hISOB0Nz0Q0DSNiYkJTExMREx8KxAIPBzGGOvc0dHRdZOoaNI8AP9M++Z6UjqPIPDvn9yF6585g9MTBrxwdha3tRX41A4wLlaBUKxIkkRXVxecTidaWlogEomQAODOCwrw9PuT+OWxceyvygSfx83vNNSYnp7GyMgImwvEXDs6nQ7j4+Po7e1FWloae37infB/wmw249y5c8jLy/O4bn0Jypl9R6SLDovFEj+PUYZ4oRFDIAgiIpoFs9mMyclJ0DSN9vb2sHZXI0Wd2s53TFZ8HLyCdvBnPoLo5I/hvPbX2z4G/vBBiN76EginFZR8N+w3PQc6xXuX3WKxQKlUIjk5GXv27PFroyMWi9fpOty76cymNtZ1HRRFQa1WQ6vVoqWlBSkpKZE+JBAEgbS0NKSlpbGTKJ1Oh8XFRajVaiQnJ7Pnx18nnlCBcfgpLy+PCRvRonQJHvtYOX7wj2H87N1RXFSRjuJ0z6aKN7G/TqfDwMAAnE6nR57KRhQrp9MJpVIJHo+H5uZmj/vq3R2F+MvZWYxozfhHnwbX1mWH7DNzFZOTkxgbG/OwTna/dioqKmC1WllBOZPZwZybneIA5w2+igx3RCKh3B8whUYc0QP+448//nikDyKOrWGjTe7k5CRycnLC1tXU6XQ4d+4cUlNTIRQKw55Mq9PpWKeYcEGr1YLP529pTZqmQVIUXBlVEPX8BXztAMiyj4FO2booUXDudxD94xEQlBNk6X7Yb/ofINF70Nny8jIUCgVycnK2TVnh8XhISkpCVlYWiouLkZaWBpvNxnYLV1ZWQJIkxGJx1FN4tgKSJNHd3Q2j0Yjm5uaoFWOLRCKkpaUhLy8PBQUFEIlEMBgMbMq7xWIBQRAQi8Vh3TgtLCygp6cHu3fvjikb0dq8FHROGTCxZMXAvAmf2psDno9ijiAIJCYmIjMzE0VFRZDL5aAoCgsLCxgeHoZOp4PdbodAIIBIJGI3dIyeRSQSoaGhYd11JRbwQVI0Tk8YoNaYcEtzXnyq4YaxsTFMTk5ums8iFAqRmpqK3NxcFBcXIykpidUkjI2NYXV1NSbvbRvBZDKhs7NzSxNIZnrB5/MhEAjA5/PZv+c+8XBvCoaqAdLZ2YmhoSHcc889IXn/OLaOnXHl7CCEa6JB0zSmpqYwNDSE3bt3g8/nY3x8POTrrkUkJhpbpWt5OEvlNcK1+0YI+l+G8NgTsH/uFcDfGy5FQnjsexB2/gEA4Nx7O5wHfrTOLpcBE+hVVVWFwsJCv493I7jndcSyrsPhcECpVILP50e9O5I7RCIRcnNzkZub65EJwXTTw2WdOzU1hZGREezduzdkad+RAo8g8INP1uBTT5+FYnoFz5+ZwV3tm19faylWdrud7aa7U6xSU1MxNjaG1NRU1NbW+iwOb7+gAM+dnsHUkhVvdC/ixsbIhAlGE9xDIJubm7c0gfSW2aHVatfpbjIzMyM+KQwV3IuM8vLy7dN6Q5RQ7g8Y16k4ogfxiQYHsVEhMTMzg/T09JB2XymKwsDAAKanp9Hc3IysrCxYLBbodLqwTzT0ej1omoZcHj5BpE6n83tNb85SVM5eCFR/Bs8wASq7TuAh+QAAIABJREFUFnRG5eaLOiwQvfFFCPv+3/l/vfQ7cF3yLYC3nrZE0zTGx8cxOjqK+vp65OaGZgNCEAREIhFkMhny8/ORn58PPp+PpaUljIyMYH5+HjabDTweDwkJCZx5MFssFpw7dw7JycnYu3cvZzuZ3rrpLpcL8/PzGB4ehl6vh9PphFAohFAoDMr5YTZ6TDc5HIYQkYA0QYg0iRDHh/U4N2nAVbuyIEvcWjEqEAgglUqRk5ODoqIiJCcnY3V1FePj4yBJEhKJBBRF+eymi/g88Ajgg7FlDGlM+GxL/o6eatA0jaGhISwsLAQcAslMAJl7W0FBAYRCIZaXl9lCxmw2Azhv2hALFCumyCgoKAioyFgL92kH87+hnHacOHECS0tLuOWWWwI+9jiCA24+QePwiVCLox0OB1QqFZxOJzo6Olh3h0iIspl1GVvdcIHH47FuG77AuHJ4c5aipflwtdwH4Ue/hPDY90GWXQHwN+gumzQQv3In+AtdoPliOD7xS5A1n/T6Uoqi0N/fj6WlpbBrCmJB17GysgKlUom8vDxUVlZypjjaDO7d9LKyMthsNlawPDo6yor9MzMzkZaWtq2NE0VRGBwchF6vR2tra9RSzYKFm5tycWRQi5OjS/i31wfw/D2NEGxzw8kEjOn1ehQXFyMnJ8fDxUoqlbKCZXcXq1ta8vHHU9OYNdjwmmoBn2nemSF0NE1jcHAQOp0OLS0tQe9oe0uP1+l0UKvVsNvtSE9PZ/NwuOh4ZDKZcO7cORQWFrLuUqHAZgnlwRCUxyca0Yf4RINjYEJzfGF+fh5JSUmQSqVBX9tkMuHs2bNISEhAc3Ozh5DR4XBgbm4OpaWlQV93IxgMBjgcDmRnh08Muby8DKfT6XNNd6oUAK/OUlROIwS9fwXPOAs6IQ1UfovX9yJ0aiT89Sbw9cOgJTLYb/4LqLLLvb6WCUOz2WwR1xT40nVMTU1hdHQ0KnUdGo2GFS6XlZXFTJHhDUw3neGmSyQSGI1GjI+PY2JiAmazGTRN+92tJUkSPT09MBqNIdnoRSMIgkBrSRpeUS5getkKiZCPpiLfeoCNsLy8DKVSidLSUpSXl3t00/Pz8yEQCFjdzezsLKxWKwAgJSkRQj4fJ0eXMLhowud24FSDyRhhmiuh/u25TwoLCwuRnZ0NiqLYPKLFxUXY7XbweDyIxeKov48YjUZ0dnaGvMjwBsbAxn3aAfxz0uFeiDD/fbPv8+DBg+Dz+bj22mtDfvxx+IfoeMLHsSUQBMFeeGsRqskC05kuKiry2umN1EQj2jQa7kXGht0YcTIcF30D4ne+BuGHP4drz82AxJNmwps8CfFrnwdhXwUlK4P9pudBy7wXchaLBSqVChKJxKt4NJLggq5jenoaw8PDqK2tDWvRGg3g8/mbWucy3XRv3VqmwAXAKT1LMJAjTcA3r6rAt98YxFPHx3FJRQaqsrdG2dHpdOju7kZVVZVX0bxYLGYLDpIk1+luatLSkZkowMKqHS8p53Bra+wI7zcDRVHo7e2FyWRCS0tL2K2dCYJgMztKSkrgdDqh1+uh0+nYa4KZdERjZgdTZBQVFaGsrCyix+JPQjmw+bTDarVGhTtgHP9E9OxG4ggKgi0Gp2kak5OT7CbMV1BZJILzgPCJ393hq7jxEH37EcJH1n0WlPJZ8DR9EH7wn3B+7N/ZP+P3/g2ig4+BoFwgC9pgv/7ZdYUIA4PBAJVKhdzcXFRVVUV1By3a8jpomma7xJs51OwErLXOtVgs0Gq10Gg0GBoaQlJSEnt+pFIp7HY7lEolJ9O+g4VP783BkUEtjg3p8Y3XBvDi55shEvhH91hYWEBfXx9qa2uRk7O5Ax2fz2c3ru6C5WtKzPhzP/CroyNoSrMjPycr4KDAaAdFUeju7obVamUzRiINoVCInJwc5OTkeBTt7pkdDEUx0tTCaCoyvGG7gnKr1RpPf48yxAuNGEMwN94M31+r1aK1tXXDTRjT5fdntBlMRCpHY+2aWy0yzr8RH479jyPhxZshUP4Jrsa7QadXQHjySQhP/RwA4Kr5NBzX/BwQeO/ULSwsoL+/HxUVFWEX4gcD3nQdDIUJCK2ug/l9Ly8v7whNwXaQmJiI4uJiFBcXw+l0sroOhULBNhdSU1P9zmeJRRAEgSeurYHq6TNQL5rwq+PjePRjm1NQZmZmMDQ0tG1nLnfdzaNFJTg0cwoLqw682qNF29QERCIRu6lNT0+PCcEyg7VBhtE2KQDWF+1MZodWq8XIyAgSEhLYSeF2dVHbBVNkFBcXh53uvB14y+xgio610w6j0bgjqJtcQrzQiDEEq9Bg7D1JkkRHR8emI2n3VPKdENjnvqY3Zyl/QRVfBFfFVRCMvAPR0e+BlqRD0P8yAMDZ/jCcF38DINY/gJi06vHxcdTV1YXVdStUWEvhMRgM0Gq1GBoaYgWXTOGxUdCZP3A6neju7obT6fSalB7HegiFQtY6l9EUJCYmwmKx4MSJEx7WuTvt+8xMFuGJa6vx8N968YcPp3BJZQZain03Zphrt7GxETKZLOD1RQIevnRJKb77lhpvj5N46MGLYTOtRsTaONRwuVxQqVSgKApNTU1RWWR4g0QiQWFhIQoLC9mmik6nQ09PDyiKQkZGBjutCuX5WV1dhUKh4EyRsRYbCcpXVlZw4sSJeKERZSBoX2T/OKIWTqfT5+ZarVaDJEns3r172+9vNBqhUCgglUpRV1fnV+FAkiQOHz6Myy+/PKwPscXFRYyOjuLCCy8M25pzc3OYnp5GW1ubh7OUN9G3PyCWRpHwx8tAUOe7MjTBh+Oq/wBZf6vX1zP2wnq9Hg0NDSER/kcTaJpmdR1arRarq6usriMrK2vLkwibzQalUgmxWIz6+vqo0rNwAWvTvjc6P1zPU9kqvv3GAF5VLSA/LQGvfrEVyWLP39Zaql4wr10nSeETvz6NGYMNX/tYOf7lwiJ2TYZipdVqYTQa2fOTmZnJKYoVowciCCLqtGjbBU3TMBqN0Gq10Ol07Pnx5jIWKFZXV9HZ2YnS0lKUlJQE5T2jBSaTCddffz0oisKLL77IyQl/rCLuOsVBMONCbwjUhUmj0UChUKCwsJAN4vMHBEFgdHQURUVFYe0wMePocN5UzGYzlpeX2VA0AFueZHhAkg7Cugz+vAK0KBn2G/4bVM11Xl/qdDrR1dUFi8WClpaWHUH32SivY3h4eEt5HYyNo0wmQ11d3Y6l+2wX8/Pz69K+fZ2f5eVlDA8PY25uDlarlTMuPIHgghIZ3u7TYNZgg97sxOXV/6REMRasi4uLIbGe5vMIJIsFOKrWYWDBhM+25EHE53lkQhQUFLAuVkzeDeNiRRBEVOfdOJ1OKBQKCASCmCkygH9mdqSnp3ucH8ZlbGZmBhaLBUBgmR2xXGSYzWbcdNNN4PP5OHjwYExM+GMJ8YkGB7HRRGN8fBwrKytoaGjY0nsyVJyRkRHs2bNnWyFvhw4dwoUXXhhQUNJWodfr0dfXh0suuSRsay4uLkKtVqOtrQ0CgSA4D2aXHYKev4Isvgh0und+t9VqhVKphEQi8XvSFOtw13XodDoAvnUdS0tLrHNarNvXhgJM2nd9fb3fmgKSJLG0tMR20ymKYju10ejCEwycmzTgrj8pQQN46pY9uKJaDoqi0NfXh9XVVTQ1NYUsa8FFUbjuN2cwuWTFVy8vw30XFW/4encXK61WC5fLFZUUK4fDgc7OTkgkEtTX18eU3mQjMJkdzLTDnUKamZnpt8vWysoKFAoFysrKUFy88W+Ca7BYLLjppptAkiTefvvtuONUFCJeaHAQGxUaU1NT0Gq1aG5u9vv9GItAvV6PpqYmpKambuu43n33XbS2toaVymMwGKBUKrF///6wrEfTNMtxdblcyMzMRFZWFjIzM0O68V9ZWYFKpUJWVhaqq6t3zIN2K6AoinV50Wg07EM5KysLFEVhaGgINTU1yM/Pj/ShcgpM2vfMzAwaGxu3fX9grh1mU2s2myGTydjCkItBZ77wn0dG8YcPp5CeKMTLX2jG3NggbDYbmpqaQq5febNnAd94dQDSBAGOfKVjHX3LFzaiWEWSAmez2aBQKJCcnIw9e/bs2HsfQ1FkBOUrKytITk5mC3epVOr1/MRykWG1WvGZz3wGVqsVBw8ejHkaMVcRLzQ4CJfL5VPwPTs7i9nZWbS1tfn1Xow9JU3TaGxsDMiH/Pjx49i7d29QxI3+YnV1FWfPnsUVV1wR8rXWZmSYTCZoNBp208RsaoMhVnbH4uIi+vr6UF5ejqKiongn3g8wD2WNRoPZ2VnYbDYkJSUhNzd3W7qOnQpGD7S0tISmpqagfm9Wq5Xd1C4vL6+zzuXy79zhonDLH85BvWhGYxYfX2lKQGNjY1gmOCRF41NPn8GYzoKHLivFA5eUbOt97HY7u6nV6/Wsi5VcLodMJgvLht9qtaKzsxMymQy7d+/m9G8i2GBc4Jh/CILwmBYKBAK2yGCeHbEEm82GW265BUajEe+88862GyBxhB7xQoOD2KjQWFhYwPj4ODo6OjZ9H8biLi0tLSh89RMnTqC2thYZGRkBvc9WYDKZ8OGHH+LKK68M2Ro0TbN2eox979oHnnvewMrKSkBiZfd1JycnMTY2hj179sS9wbcImqahVquxuLiI2tpa2Gw2aLVaLC0thT2vg4tg0r6tVmvATYjNwASdMRQRHo/Hnp/09HROamn6ZpbxuWdVcNHA49dU4jMt4QvS+0efBo+93IcUsQCHHm5HqiSwAoehwDGFRzgoVhaLBZ2dncjMzERNTU38Gt0AzDSXOT8WiwUpKSkwmUwoLi5GRUVFpA8xqLDZbLj11luh1+tx6NChsDY349g64oUGB7FRoaHVaqFWq3HRRRdt+B6Li4vo7u5GWVlZ0PjqH3zwASorK8O6IbZarXjvvfdw1VVXheRB5O7XDfjnLOVwONhOrV6vR0JCAjvpSE1N9es4KYqCWq2GRqNBQ0NDvFuzRZAkySYGr+XEu1wuLC0t+aXr2KlwT/tuaGgIq5aCoijW2lir1Qbd2jgcYOg+x+Z5+J8+KyRCPl79YiuK0sNDD6NoGtc/cxbDGjMeuLgYD+0PXiAb45LEbGpDQbEymUzo7OxETk5O1IeQRiMWFxfR29uLhIQEWK1WSCQStigMd2ZHsGG323HHHXdgbm4OR44cQXq69yDbOKIH8UKDgyBJkg2oWQu9Xo/e3l5ceumlXv+cpmmMjY1hbGwMdXV1fqXR+otTp06hpKRkW0Ly7cJut+PYsWO48sorg37zZKhSzCWynfd3FytrtVq/OrUulwvd3d2w2+1oaGiIKe56OOBwODwsMDfaJDOdQOb8uOs65HJ51IhhwwnG/pcxHYhk4cVF61ymE5+eno7qml34/PNdODtpQGOBFH++uwl8XniO9/CAFl/5f71IEvFx+OEOpCWGpli02+3sJCoYFCtm0l5QUIDy8vKoO7/RDka3WFFRgcLCQraxwpwjJrODaaxw6R7ncDhw5513YmpqCkeOHNlW0GUc4Ue80OAgNio0VlZW0NnZicsvv9zr3+vt7cXy8nLQPdwB4MyZM8jLy2NtL8MBl8uFI0eO4Iorrghq15WZZJAkGZh1rRvcO7UajQZOp5Pl1GZmZkIoFLKbPJFIhPr6+ph05QklLBYLlEolKxzdyibZ16aWKTp2gq7DbDZDoVAgPT0du3btirrO59ppYSR0AxuBySDKzc1FZWUlCILArMGGTz99BmYH6ZcTVLBA0zRu+t05DCyYcO++Ijx6xeZp5YEiUIrVysoKlEol6wwXx9ZgMBigUChQWVmJwsLCdX/OGDIw58dkMiE1NZUNCozmTBWn04m7774bo6OjePfdd+MWthxCvNDgIDYqNIxGIz766CMcOHDA478zG1gAIXM+6ezshFwuD6vojKIoHDp0CPv37w/aZ3IXfQeryPC2hruY3GQyISUlBWazGXK5HLW1tRHfNHENjDNXsOgWTKd2ra4jKyvLbwocl8Bs8vLz81FRURH1n8+bda77pjbcRTrTSWYSl92/v9e65vGt1wch4BF44V+aUZsXHgvOY2odHnyxBxIhH4cebkdGUvi6176C6HxNo5jvLxbdkcKB5eVlKJVKVFVV+d3s8yb4Z5pfMpksamikTqcTn//85zE4OIijR4/G9YocQ7zQ4CA2KjQsFgtOnDjhoVlgNhDp6emora0N2c1DpVIhNTUVpaWlIXl/b6BpGu+88w4uvfTSoFCMGD1GKIsMb5iZmcHg4CASEhJgs9mQkpLiISaP9k1fpKHVatHT08OmVQcbLpfLQ6wMxJaug0n7rqio4KQ7jTfr3LS0NPYcJSYmhnT9zb4/mqbxyEt9ODSgRXG6BC/d14IkUehzcGiaxi1/6ETvnBH3dBTiXw9EThRss9lYhyS9Xg+xWMxuammaRnd3t89OfBwbYztFxlowmSpM4eFwOJCRkcFOO0JpBrERXC4XvvCFL6CnpwdHjx4NKt07jvAgXmhwEBRFwel0ev0zRrNw4MAB8Pl8LCwssBuwtV22YKO7uxtJSUkoLw/9iN4dhw8fRkdHR0BBgYyzFCOy90f0HSwwQWi1tbXIzs6Gw+Fgb/Y6nQ5isZil78QdktZjZmYGQ0ND2L17d1geQt50HUwnnYu6jvn5efT392P37t1h1VeFElarlb2GlpaWkJiYyJ6fYE+jNBoNent7UVNTg7y8PJ+vM1iduOGZs1hYtePGxlx8/7qaoB3DRjgxrMf9L3QjQcDDOw+3Q54ceTG9+zSKoZGmpKSgqKgoqoICuYClpSWoVKqAioy1cKeR6nQ6NrODmRaGy37a5XLh/vvvP2+scOxYzNyfdhr4jz/++OORPog4tgZGP+ALY2NjKC4uxsTEBNRqNerr61FYWBjyGwPj5R1Oe1sAmJiYQF5e3rapU9txlgoGGGepmZkZNDU1sd8bn89HSkoKcnJyUFxcjMTERBiNRoyNjWFychJmsxkEQSAhIWFH06sYY4Px8XE0NjaGjbNLEAQkEgkyMzNRWFiIrKwskCSJhYUFDA0NQafTwel0QigURv2GaWpqCkNDQ2hoaIgpOoJQKERqaipyc3NRVFSEhIQErK6uYmxsDFNTUzCbzQAQ8DU0NzeH/v5+7NmzZ9MiN0HIx66cZLzetYD+BRMq5EmokIde91OULsGHY0uYMdhAUjQurgjv/dkbeDwekpKSQNM05ufnUV5ejsTERCwsLGB4eBh6vR4OhwNCoRBCoTDeXPEBpsiorq4OqjaSIAiIRCLIZDLk5+ejoKAAIpEIBoPB4xqiaTpkzyGSJPHlL38ZZ86cwdGjRzcs4uOIbsQnGhzERhMNhkokl8thNBrR3NyMlJTw8IEHBgYAALt27QrLegyOHTuGxsZGpKWlbfnvBsNZajtwuVweGQX+0L5omobBYPDopDPUA7lcvqOE4+5Bco2NjQFNs4IJrug6aJrGyMgIZmdnA0r75hp8pcczndqt0EOYSWRDQ8OWLDZ//u4ofvfBFKQJArz6xVbkpoaekvLh2BLufb4LIj4P7zzUjmxp5KcaCwsL6OvrQ11dnUeRy1CsmGvInWIVDYL/aIF7kZGfnx+2dd2vIZ1OB4vFAplMxl5DwaApkiSJhx9+GCdOnMCxY8c4SeeM45+IFxocxEaFhs1mw/HjxyGVStHc3BxWz/mhoSE4nU7U1taGbU1g+0GB4RB9e4PNZoNKpYJQKNy2s5R78rVGo4HJZEJaWhpLsYplS1x3+99QB8kFgmjVdYQy7ZtLoGmaDdrUarVYWVlhtVFyudynAw8zSZuent5WkeYkKdz+rAI9c0a0Fqfhj3c0hNzylqZp3PknJTqnVvC5lnz8n2uqQrreZpibm8Pg4CDq6uo2nES6U6x0Oh1IkvTQDUT7xDBUYIqMzeh64YDFYmELw+XlZSQmJrKFYWpq6pYLQ4qi8NWvfhVHjx7F0aNHUVJSEpoDjyNsiBcaHARN03A4HOv++8rKChQKBRwOB9ra2sKeljk6Ogqz2Yz6+vqwrnvy5ElUV1dviTrjPskIpx7DaDRCqVQiIyMjqPahVquV3TAtLy+zfNqsrKyotizcKux2O5RKJYRCIfbu3QuBIPSC2mAgWnQdJEmiu7sbNpstqou0SMBdG6XX6yEUCtdZ59I0jaGhISwsLKC5uXnbk7TJJQtueOYcrM7wWd6enVjGXX9WQcAjcPChduSFYZLiDYymau/evVtqDrm7WK21Zo3WTJVQgDEeiIYiYy2Y5goj+qcoii0K/XGCoygKjz32GN555x0cO3YsrMYycYQO8UKDg/BWaMzPz6O3txcVFRWYmJjA3r17w56YOT4+DoPBgMbGxrCu++GHH6KsrMxvIXCknKUYZ6TS0lKUlJSEbF2n0wmdTgeNRsNumNzF5FylHphMJiiVSshkMuzevZuzn8NdaKnRaFjbz1DndUQy7ZtrYBx4mE0tkwfhcDhgs9nQ3NwcMEXkVdU8vv3Gecvb5+9pQn1+cHONvOGePytxesKAm5vy8MS11SFfby0mJycxNjaGhoaGgBth3ihWDH0nVilW0VxkrIW7E5xOp2MLQ+YcrS0MKYrC17/+dbz11ls4duxY2E1l4ggd4oUGB+FeaDBc68nJSezduxdyuRzvv/8+ampqwh5oMzU1Ba1Wi+bm5rCue/r0aRQWFm56442ks9T09DSGh4fD5ozEYG3WAE3TyMzMRFZWFqdsWZeXl6FSqVBYWBhzacHedB1M0REsXYfNZoNCoUBiYmLE0765BpqmsbKygr6+PthsNlAUBZlM5tFJ3+77fu2VfvyjT4NCmQSv3NeCJHFoJ3SKKQNu/28lBDwCf3/wAhTKwkexHB8fx8TEBJqamoKuCdoJFCumyNi1axcn3ZfW2hsfPnwYi4uL+MQnPoGrrroKP/jBD/Dqq6/i6NGjqKqKLLUvjuAiXmhwFHa7nRUUr66uoqmpiRV9b7XDHyzMzs5idnYWbf8/e2ce30Sd//9Xmt73kaSltIUWCr1o05RyiAouKoKIiApeCLoKeKwrq7uu6+5+dRUR3VV3VRA8wGUVcFERUASEcrNA2/S+6X3maJI2ae6Z3x/8ZkxKj7TNNek8Hw8ePmwnmelMZvJ5fT7v9+s1a5ZT93vlyhVMmDBhSNeN/k3fzhIZVKlFR0cHhELhqBrW7XksluU7Op2OEbasXV1dKC8vt6t9o7viiL4Od0/7dnfMZjOKiopgMpmQnZ0NgiCshOFYrHN7dEbcs/0KOlR6LM+KwZt3O95IY92XxTh3tRv3CGOwaZnj90eSJK5evYrW1lanmJMMVmI12Ew6E5DJZCgpKWGsyOiP2WzG8ePHsXfvXpw6dQo9PT3w8vLCyy+/jF//+tduv1rDMjJYocFQqBRVLpeL7Oxsq0HipUuXEBcX51QnCuCai0hDQwPmzp3r1P0WFBSAx+MNGtTmqqZvs9mM0tJSaDQaZGdnOzw0bCQMVL4TFhZGz6S7y7E2NTXh6tWrwzaNeiIEQUCpVNIDptH0dVBhnXFxcR63EuQMjEYjxGIxvLy8IBQKr+sJGkgYUisdUVFRNvUQ5TcpsfbfYhAk8I9707A4PdohfwtFcasKD35eCC6Hg0NPz8LkKMfd6yRJora2Fh0dHWPqaRkLTC+xokSGs1fDnQFBEHj11Vdx8OBB3Hnnnbh8+TIuXboEoVCIpUuXYunSpRCJRG5/jViGhhUaDMRoNOLEiRPg8/kD1qrn5+dDIBA43RJOIpGgtrYW8+bNc+p+h0okd5XIoJqWuVwuI+rhdTqd1SxtUFAQ3UweEhLi9AGq5UrQeLJfHYzBhCElOgYq36EGKExN+3Y1er0ehYWFCAgIsKncjLKfpu4jnU5H237y+fwhG+8/yKvHtrNNCPHzxrfrczEx3LGN2k/tKcHpWjnumhGNLfekOWQfJEmiqqoKMpnMbdzN+peSEgRBi/eoqCi3W9WVSqUoKSlBenq6x4kMkiSxadMmfPbZZzhx4gQyMjIAXPubf/rpJxw+fBg//fQTHn74YWzdutXFR8syFlihwVAkEsmg6ZxisRjh4eFOd2yQy+UoLy/HzTff7NT9DpZI7iqR0dvbi6KiIsY2LRuNRsjlckgkEshksgHddxyJ2WxGeXk5ent73W4lyF3oP0vbv6+js7MTFRUVHjlAcQZarRYFBQUIDw8f9T1MCUPKOpdyguPz+deJdxNBYPVOMYrbeiCKD8OuNUJ4O/A+q+joxX2f5MOLA3y/YRam2Dk4kCRJVFRUQKFQICcnxy3ttqlmZeo+crcSK08XGW+99RY+/vhjnDhxYlCnSqPRCJVKBR6P5+QjZLEnrNBgKAaDAYNdusEG3o6Gati95ZZbnLrfsrIy+Pr60g1kVNO3K5ylZDIZSktLkZCQgKSkJMaXqhAEQc8ASiQSEARh1TNgb3tZyhmJJEkIhUK3m2F0R/qX71Cfe8rdjG38HhlqtRqFhYUQCASYPn26Xe5hyjqX+uft7U3fR5GRkfDy8kKLQosV269AYzDjqZsn4zcLHDtR9Jt9pThRLcOSdAH+fq/9so8IgkB5eTl6enqQk5PDGAvlwUqsXOHWR4mMjIwMREc7tpTO2ZAkiXfeeQcffPABTpw4AaFQ6OpDYnEwrNBgKEMJjfLycnh7e2P6dOfaF/b09ODKlStYuHChU/dbWVkJDoeDlJQUK4EBONdZqrW1FdXV1UhLS/OIhr3+UDOAVDO5VqulU5X5fP6YwyG1Wi3EYjHrjDRKqHr41tZW8Hg89PT0uCyvg6n09PSgsLDQoT0tBEFYWecajUb6Gl2RkHj5YA04AD5bLcScRMdlIVV3qXHP9ivgADiwIRfJgrH3TxAEgdLSUvT19UEkEjk1MNaeuLLESiKRoLS01GNFxnvvvYd3330Xx48fd7pDJYtrYIUGQzEajfRguj9VVVUgSRI4U98kAAAgAElEQVSpqY53FLFEo9Hg/PnzuP3225263+rqapjNZqSmplo5SzlrBooa4LW3tyMrK8vpQYmuwrJnoKenZ0xZED09PRCLxRAIBEhJSWH8SpCzGSjtezR9HeMZakU2KSlpUGMJe0OSJNRqNT2g7e3txf5mP5xpNSEqyAcHNsxCVJDjBrUb95fhaIUUt6Xw8c+VGWN6LyoMUq/XQyQSeYyoHarEijLOsNfzihIZM2bMgEAgsMt7ugskSeJf//oX3nnnHfz0009Od6dkcR2s0GAoQwmN2tpa6PV6urnKWWi1Wpw+fRqLFi1y6kCxtrYWOp0OaWlpMJvNTneWKisro/sJxuvgzTILQi6XIzAwkBYdg/USUVD+8NQAjxUZI8PWtO/h+jrG83mnwjSnT5/udLc+S3Q6HVo7JXjq2wa0qQmkRXLwxm0TEC0QICwszO6TJ7USDZZ/fBkkgO/W52J69OhWNSgLYLPZjOzsbLc3vxgLjiqx8nSRsXXrVmzatAk//fQT5syZ4+pDYnEi3FdfffVVVx8Ey8ghCGLQ0imVSgWtVuv0BjKSJNHQ0ICkpCSn1rMqlUqo1WrweDxwuVynO0sRBOG2DY/OwtvbG6GhoZgwYQISEhLg7+8PlUqFq1evoqWlBX19ffDy8oK/v7/V9Wlvb0dZWRnS0tIQHx8/rge7o8FoNKKwsBAkSQ5bqtL/GgUEBKCnpwf19fVobm6GRqMBAPj7+zPOwGAsdHZ2oqysDBkZGS4vefT29kZkeBjmTuHjQFEHOjQkvDkEfHta0dTUBLVaDZIk7XaNooJ8US/rQ51UA0WfEXekj3yAazKZIBaLAcDjRQZgfR9NmjQJgYGB0Gg0dCBhb28vCIKAv7+/zeWfXV1dKCsr81iRsX37drzxxhv44YcfcMMNN7j6kFicDLuiwVBMJhOdcN2fpqYmyOVyiEQipx4TFcLzq1/9ymnL5lR4VllZGQDQlqyRkZEOrfFXq9W0u1daWhrbTzAIlvXoEomETuzl8/nQaDRoaWlBVlYWIiMjXX2ojMNead/2yOtgKq2traipqUFmZqbbOdvsL2zHXw9Xg8vh4Is1QiSFgr5GfX19dH8Uj8cb0yTHWFY1KKHr4+ODrKyscf0cpEqsKFMGW0usKJGRmZnpcVlBJEnis88+w1/+8hccPnwYN910k6sPicUFsEKDoQwlNFpbW9HR0YHc3FynHhNJkjh69CgWLFjgcKcRylnK8hxQqdcSiYRusBQIBODxeHadZZPL5SgpKUF8fDwbgjYCqMTerq4utLa2wmQyISwsDLGxsXZpJh9PUEI3KioKKSkpdluBoPo6qIZ/T+7roGags7OzER4e7urDuQ6SJPGH7yrwQ5kEE8L88M26XIQHXHuO9fX10aJDqVQOaZ1rCy98U44j5RLcnsrH+/fbVnJrMBhQWFgIf39/ZGZmjqtVMFugsolkMtmgJVaeLjJ27dqFl19+GQcPHsSCBQtcfUgsLoIVGgxlKKHR0dGBpqYml9RBHjt2DPPmzXPogGQ4ZymqwZISHRqNhp79EwgEYxrQtrW1oaqqCqmpqYiNjR3z3zLeMJlMKC0thU6nQ0pKClQqFZ0zEBoaSl8jTxrQ2htnpn1T9egSiQTd3d0IDAykB0tM7esgSRJ1dXVob2+HSCRCSEiIqw9pUNR6E+7dkY8WhRYLp/Pwr5UZ151zo9FI9wzI5XJwuVw6ndzWld2Rrmro9XoUFBQgODgYGRkZrMgYBrPZfJ0FdVBQEHp6epCenu7ykj17Q5Ikdu/ejd///vc4ePCg0y3vWdwLVmgwlKGEhqsSugHgxIkTyM3NRWhoqEPen1rFGImzFDX7J5FI6AHtSN2RSJKk+w3YUp/RodfrUVRUBC6Xi6ysLKtVJoPBQF8jtlF5cFyZ9m2Z1yGVSuHl5QUej+eUUkV74Y5p1cNR0dGLBz8vgNFM4k93JOORWXGDbjuUdS6PxxuyDM7WVQ2dToeCggKEhYUxMpDU1VC9jPX19fD394dOp/OoVUOSJPHVV19h48aNOHDgAG699VZXHxKLi2GFBkMxm80wmUwD/s5VCd0AkJeXB6FQ6BCLV2olYyzOUpQ7kuUMrUAggEAgGLTkgEqq7unpgVAoRHDw2P3mxxsajQZisRhhYWFIT08fcnBCzf5R5TteXl5W4WZMGNA6go6ODrdJ+2ZiXwdBELRDHJOC5ABg96VWbD5aCx8uB3sez0HahOFXYQayzqVWDakBreXzzpZVjb6+PhQUFCAqKgqpqansBMAooO7jrKws8Hi860qs/P396RUpZwcFjhWSJLFv3z4899xz2L9/P+644w5XHxKLG8AKDYYylNBQKpUQi8UuWa48c+YM0tPTERUVZdf3pVYy7Jn0bTKZ6LIQmUwGHx8funSHesAbDAYUFRUBAJtUPUqUSiWKioowceJETJ06dUTXjhrQUqLDaDTSX8L27r1xZ5qamnD16lVkZWXZ/d4aK0zo62B6xgNJkvjN12U4WS1DQmQA9j85E8F+3iN6D0sL6sF6Bn63vxw/VQy8qqHRaFBQUGDXxPTxRkdHByorKwc1HxioxMpyRcqdn3ckSWL//v145plnsG/fPtx5552uPiQWN4EVGgxlKKHR29uLS5cuuWTJ8vz580hOTrarRR/Vj2FPkTHQPqgHvEQiAQBERERAqVQiPDwcGRkZ43YmfSxIJBKUlZUhOTkZ8fHxY3qvgXpvIiIi6BIrJs1Q24plGKRIJHJYSaI9cbe+Dkv7VaFQ6NaDtaFQao1Ysf0KOnv0WJTGx7v3po/6XA40oOXxeFBzQ/DE/gaQAA6sz8W0/7+qoVarUVBQgNjY2BFPFrBcgxIZtk4WWLpYSaVSaDQahIeH0xMt7iDgLfn222+xfv167NmzB8uWLXP14bC4EazQYCgEQcBoNA74u76+Ppw9exaLFi1y8lEBFy9eRGJiol1KO/o7S/Vv+nYUJEmipaUFNTU14HK5IEnSYQ5WnkxLSwtqa2uRkZHhEG94rVZLC0OlUomQkBCrZnKmD4YIgkBFRQWUSiVjwyBd3ddBOSP5+vp6hP1qcasKq3eJYSKG79ewFZIkoVKp6IbyDwv7IJZ74cZJQfjnyhm0hW1CQgISExMZf1+5gvb2dlRVVY1pRZIqsZJKpVAoFG5VYvX999/jiSeewH/+8x/cc889LjsOFveEFRoMZSihodPpcOrUKdx+++1Of/hcvnwZEydOHHO67nDOUo6kvb0dlZWVdEqwoxysPBXK1aetrQ1CodAp1qEGg4GeRZfL5fDz86NXOsLDwxk3OLJM+x4uiI8pOLuvg8oZ8TRnpN2XWrD5aB28vTjYvTYbWXFhdn3/kiYZHvyiFCSAP2aZMSGQRGRkJKZOnYrQ0FDG3Uuuxh4ioz8mkwnd3d3XrUhR/5w5GXb48GE89thj+OKLL3Dfffc5bb8szIEVGgxlKKFhMpnw888/Y+HChU6ffS8oKACfzx+TI45lPwaHw3HaAIEkSTolOTMzc8AvBXs4WHkyBEGgvLwcKpXKZbPwlmUhUqkUgPOCHO2B0WiEWCyGl5fXde5cnsJAjcr27OvQaDQoLCz0yKZlkiSxcX85jlVKERPqh2/X5SI80L6fEapXQxhF4k/zBSBJEjKZjDVmGCGUyBAKhQ5zKnRlidWPP/6INWvW4PPPP8eqVascth8WZsMKDYYylNAgCALHjh1zSnBef8RiMSIiIjB58uRRvd4RTd+2QA2QqTIVW5ylLJsr5XK5TQ5WnozRaERxcTHMZjOys7PdouGWJEmrZnK9Xk9/AfP5fLcbxFOz8EFBQeOqL8iyLGSsfR29vb0oLCzEhAkTkJyc7JH3oVpvwv2f5KOpW4ubpkZi24OZ8LLj33mlpg1r91aDBIfu1RhqRYrH43nEqps9aWtrQ3V1tUNFxkBotVq6DK67uxsBAQH0NbJnidXRo0fxyCOP4JNPPsGDDz7okfcZi33wjLXkcchQNzU1QB8sZ8ORcLncUe/XVSLDYDCgoKAAfX19mDVrls32tX5+foiLi0N2djYWLFiApKQk9PX1IT8/H+fOnUNVVRW6u7vp8i9PRqfTIT8/H1wuFzNnznQLkQFcu08iIiIwffp0zJs3D7NmzUJISAiam5tx+vRp5Ofno7m5GVqt1tWHCrVajcuXLyM8PByZmZnjRmQAgL+/P+Lj4yESibBgwQJMmTIFer0eYrEYZ86cQXl5OaRS6bDPFqVSifz8fCQkJHisyACAYD9vvH9/Bvy8vXC2rhs7zjXZ7b2lUil6WqowP+ma8cDWM40Arn2vREZG0vfS7NmzERYWhra2Npw9exaXL19GQ0MD1Go1xvv8ZWtrq0tEBgAEBARY3UvJyckwGo0oLS3F6dOnUVpaio6OjkEnKm3hxIkTWL16NT7++ONBRcbWrVuRmJgIf39/5OTk4OzZs0O+5+nTp2nb6aSkJHz88cfXbfPNN98gLS0Nfn5+SEtLw3fffTfi/ZIkiVdffRWxsbEICAjAggULUF5ebrWNXq/Hb37zG/B4PAQFBWHZsmVobW215dSwDAC7osFQSJKEwWAY9PeODs4bjLKyMvj6+mLatGkjep0znKUGoq+vD2KxmK7jtsfgjiAIdHd307PoJEnSs7NRUVEeN4Ds7e2FWCwGj8dDSkoKY2rhqWZyqrkyODiYLrEKDg526iCVsgCOj49HUlKSxw6QR8pgs+iUMYOloJXL5SguLraLwxlT+LaoA38+WAUvDvDpI0LMSRxbflFXVxfKysqQkZGBHk4Q7v74CgDg+w25SBYMPgGj1+ut0skHss4dL7S2tqKmpgbZ2dkOyZMaLYOVWFGrHbaWWOXl5WHVqlX48MMPsWbNmgGfVfv27cPq1auxdetWzJs3D9u3b8enn36KioqKAcuqGxoakJGRgSeffBLr16/H+fPn8fTTT2PPnj249957AVwzmrnpppvw+uuv45577sF3332Hv/71rzh37hxmz55t8363bNmCTZs2YdeuXZg2bRreeOMNnDlzBtXV1QgJuZZP89RTT+HQoUPYtWsXoqKi8MILL6C7uxsFBQW4dOkS2tvbMWnSJCQmJg5oU8xiDSs0GMpwQsORwXlDUVlZCQ6Hg5SUFJu2d5WzFAAoFAoUFxcjNjbWYbOf/Ut3DAaDRzlYyeVylJSU0A9dpg6QjUajVTO5j4+PVTO5IwdKUqkUpaWl42qAPBqG6uvw8vJCbW0t0tLSMGHCBFcfqlN55WAlvivqRFSQD75ZlwtByOhKmCj71RkzZoDP5wMANu4vw9EKKRal8fHefYOnhVtiNpvpRmWpVEo3KlMTLUx/5g2Fu4qMgRhNidWZM2dw//334/3338fjjz8+6PN+9uzZEIlE2LZtG/2z1NRULF++HJs3b75u+5deegkHDx5EZWUl/bMNGzaguLgYFy9eBACsWrUKPT09OHLkCL3NHXfcgYiICOzZs8em/ZIkidjYWDz//PN46aWXAFwTydHR0diyZQvWr18PlUoFPp+P3bt3030n7e3tiI+Px1133YXKykpotVqYTCY88MADeOWVV9wu28jdGFniDwtjGEsJ01j3a+uSLCUwKK3rzFkvKp112rRpDh3cUaU7ERERmDZtGu1g1djYiPLycjoHgokOVtQ5TE1NRWxsrKsPZ0z4+PhgwoQJmDBhgtVAqbS0FCRJ0pas9l6RoppF09PTER0dbbf39UQ4HA5CQkIQEhKCpKQkuq+jpaUFGo0Gfn5+UKvVUCqVLsnrcBV/XjwNFR29qO7S4MVvyvH5o0J4j/BZSg2Q+zsjPX3zZBytkOJohRS1EvWQqxoUXC6XXs2wnEVvaGhAWVkZIiIi6AFtYGDgiP9ed4Wy82aCyAB+KbGKj4+3crEqLS0FQRDo7OyEWq3G8uXLwefzce7cOaxcuRJ///vfhxQZVCnyH//4R6uf33777bhw4cKAr7l48SJuv/12q58tWrQIn332GYxGI3x8fHDx4kVs3Ljxum3ef/99m/fb0NCAzs5Oq335+flh/vz5uHDhAtavX4+CggIYjUarbWJjY8Hj8XDq1CkcP34cKSkp+Oqrr/D6669j9erVrNAYBlZoMJThvkRdKTR0Ot2w27mqH4MkSTQ0NKCxsRFZWVlOXfa0HChNmTKFdrDq7OxEdXU1YxysSJJEY2MjGhsbIRQKPe4h23+gpFKpIJFIUFNTY1dL1sbGRjQ0NLikjtsT8Pf3B0EQ0Ov1EAqFIAgCUqmUduwaL+5IAT5cvHdfBu7/JB/5zSr862QDfnfrFJtf39zcjLq6ugEHyMmCYCxK4+NohRRbzzTavKpBweFwEBYWhrCwMEydOtWqXLGmpsblYY72ghIZIpHIKXbe9sbb25ue8KKeeXv37sWHH36IF154Aenp6Whubsbvfvc7rFu3bsjrJJPJYDabr5s4iY6ORmdn54Cv6ezsHHB7k8kEmUyGCRMmDLoN9Z627Jf670DbNDU10dv4+vpa3QuFhYUwGAyYNWsWcnNzAQDr16/HF198gR9//BHZ2dmDng8WVmh4LK4SGl5eXsM2P7vSWaqiogLd3d3Izc2l6zFdRWBgICZNmoRJkybBYDDQ5VV1dXVu62BFkiSqqqogkUgwc+ZMl59DR8PhcBAeHo7w8HAkJydDo9FAKpWitbUVlZWVCAsLo8WhrbOzVNp3R0cHcnJyGJH27W5QVtQtLS0QiUQIC7uWJREdHW3V11FVVXVduaK7GBXYk8lRgXhjWQo27i/HpxeakRUfioXT+cO+jhK7OTk59Dnsz2hWNQYjICAACQkJSEhIgNFopG2oKXFoWWLFFHHY0tKCuro6xoqM/lDPvA0bNmDDhg04cOAA3n77bcTExGDz5s3Yt28fli5dirvuugs33HADvL0HHkb2/84iSXLI77GBtu//c1ve017bWGI0GunSMgD02IXP50Mikdj0HuMZVmgwGA6HM6i7hytXNIbar6tEBmW9ajKZMGvWLKfb/g6Hr68v4uLiEBcXR8/iSCQS5Ofnw8fHh25SdmVjpdlsRmlpKe3OFRAQ4JLjcBUcDgfBwcEIDg5GYmKilSVrbW0tgoKC6Os0mDi0TPvOzc31qNIRZ0GSJKqrq2mx298ljnJHioyMpMsVqRKriooKu+Z1uBOL0gRYPVuF3Zda8fKBSnz9RBAmRw38+bIUasOJ3bGuagyGj48PYmJiEBMTYyUOqZVDKhiVz+e7bVlpc3Mzrl69iuzsbI8QGf3Jz8/HM888g7/+9a94/vnnoVarcfz4cRw6dAj33XcfzGYznnzySbz11lv0a3g8Hrhc7nWrFxKJZNDy0JiYmAG39/b2plfMB9uGek9b9hsTEwPg2qqFZS9X/20MBgMUCgW9qkE5rE2dOhXALyIoOTmZnrjgcDiQyWRob29HZmbm4Cd1HDJ+rCDGGa5c0Rhov1TSN9WT4WxnqStXrtDWq+4mMvrj7e2NmJgYZGZmYsGCBUhNTQVBECgtLaWtPiUSiVOvL1X/ajQakZubO+5ExkBYWrLOnz8fiYmJ19kby+VyeoXPbDajuLgYvb29rMgYJVTejUwmQ25u7rBW1FS5YlJSEmbPno0bb7wRMTEx6O7uxsWLF3HhwgXU1tZCqVR6hCXri7dOQU5CGNR6M37zdSk0BtN125Akibq6OrS2tmLmzJk2rag9ffNkAKBXNezNQNa5ERER6OjowNmzZ3Hp0iXU19ejt7fXba4TJTI8ZSWjP4WFhbj77rvxpz/9Cc8//zx9L61YsQI7d+5ER0cHDh8+jJtuusnqdb6+vsjJycHx48etfn78+HHccMMNA+5r7ty5121/7NgxzJw5kzYPGGwb6j1t2W9iYiJiYmKstjEYDDh9+jS9TU5ODnx8fHD06FEA1545HR0dqKmpwdy5c0EQBL3aptfrIZfLAVz7PAx0jCwA99VXX33V1QfBMjqGGmhKJBL4+Pg4vfZbo9FAqVQiLi6O/hklMqgBlzOdpZRKJQoKCiAQCJCens6Y5XgKDodD1zFPmjQJ4eHh0Ol0aG5uRn19PXp6ekCSJPz9/R32t1GD56CgIGRlZQ26VD6e4XK5CA4ORnR0NCZNmoTg4GBoNBq6H6inpwf19fXgcDgQiUQeWb7jaKgVNY1GM+oJA29vb4SFhWHChAlISEiAv78/VCoV6uvr0dzcjL6+PgDXRCQTLVm5XhzcNDUSP5R2oVWpQ3O3FotS+fTzlloN6urqGnA1aDCignxRK9HgqqwPyj4TFqUJHPY3cDgc+Pr6Ijw8HBMnTkRcXBx8fHygUChQW1uLtrY2aLVacDgc+Pv7u6RcpampCfX19VZle55EUVER7rrrLrz00kv4wx/+MOA59vLyQnx8/IBW9qGhofjLX/6CiRMnwt/fH2+++Sby8vKwc+dOhIeH4+WXX8a///1v3HPPPQCAqVOnYvPmzZDL5UhISMChQ4fw+uuv491330VaWhoAYOLEifjzn/8MPz8/8Hg8fPbZZ/j000+xY8cOerwx3H6pfLHNmzdj+vTpMJvNeOGFF9DW1oYdO3bAz88P/v7+aGtrw0cffYSsrCzU1tZiw4YNiIqKwltvvQUulwuCIMDhcPDf//4XXl5emDVrFm666SYIhUK6OZ3lF1h7WwZjNBoH7YcYbZ7FWJFIJKitrcW8efMAuNZZqrOzExUVFZg6deqA3t1MhrL6lEgkkEgk0Gg0tIMVn8+326qNSqWCWCx2qAWwJ0OSJKRSKSoqKkAQBEiSZERJiLthMpmsUuftbZFqWbojkUhgMBjofgEm9nUUtajw6BdimAgSL9w6Bb++IQEkSaKyshJyuRwzZ84c8apkTZcay7dfAQfAgWFyNRyF2WyGQqGgSxbNZrNVOrkzrHM9XWSUlpZiyZIl2LhxI1555ZVRP/O3bt2Kt99+Gx0dHcjIyMB7772Hm2++GQCwdu1aNDY24tSpU/T2p0+fxsaNG1FeXo7Y2Fi89NJL2LBhg9V77t+/H3/+859RX1+PKVOmYNOmTVixYoXN+wWuPZNfe+01bN++HQqFArNnz8ZHH32EjIxrJYEEQcBgMOD3v/89PvnkExgMBnC5XMyaNQsPPvggHn/8cXo1+tVXX0VFRQWKioqQnp4+YIAgCys0GM1QQoPyo05NTXXmIUEmk6GiogI333yzVbmUs52lqCZHS094T4ZysJJIJFCpVHZxsKKsDj1RqDkLtVqNwsJC8Hg8pKamWl2nnp4exjiNuRKj0QixWAwul+uUFbWh8jqYdJ325rfhbz/WwIsD7HgoE6HaDqhUKjp9eTQ8/98yHKscWa6GoyBJEr29vfR1UqvVdADdSMwZRgL1veKpIqO8vBxLlizBM888g//7v/8b1xNLGzZswKlTp7Bz506IRCLagnzv3r20Jf4f//hHvP3223j44Yexe/duFx+x+8IKDQYzlNCoqamBwWCgVbqzoELw5s+f7zJnKWrWTigUjktHH0sHK7lcPioHK8pXn813GD3DpX3r9Xp6kGR5nfh8PkJDQ8f1lzyFXq9HYWEhAgICMGPGDJeUPlo2/Xd3dzPGkpUkSbxysAoHijsR7MvBX3J9cPuNM8e0ima5qvH9U7Mwle8+oqt/AJ29r5OlQ5cnfq9UVFRgyZIlWLduHV5//XW3/Vw7GpIk0drainvvvRfvvvsubrzxRnz22Wf43e9+h3379uGOO+5AX18fAgMDsW/fPly6dAnvvvuuqw/brWGFBoMZSmhcvXoVarUaWVlZTj2mnp4eXLlyBfPnz3eJs1RJSQkMBgOys7PdvunbGVg6WMlksmEdrEiSxNWrV9HS0uKSZHlPYaRp3yaTCXK5nL5OVJaHQCBAREQEI/sFxopWq0VBQQHCw8ORlpbmFueg/3Vy97wOjc6A+7f/D40qM9JigvDl4znw8x7bMT73dSl+rpLhzoxovLMizU5Hal+o6ySVSiGTyQDA6jqNdFWM6rXyVJFRVVWFJUuWYO3atXjzzTfd4l5zBZRF7dWrV7FkyRJUV1dj27ZtePnll/HVV19hyZIlkMlk2LNnD+69917GB9U6C1ZoMBiTyTRoQ3hjYyMUCoVTg2RIkkRfXx/OnTuH2NhYCAQCREZGOuWhpdVqIRaL6ZlPtmH5egiCQHd3N73aQZIk/eUbFRUFDoeDiooKKBQKiEQixpSIuBtjTfsmCIKuQ6fcxSxzIMbDZ5sqORMIBJg+fbpbzq66e1+H2WxGUVERutRGvHHZCKXWhHuEMXjjrpQxnc+Kjl7c90k+vDjA4adnD2qh6y4QBAGVSkWvSul0OrpPisfjDTsh1dDQgKamJohEIo8UGTU1NViyZAkefvhhbNmyZdyJjB9++AHe3t5YtGgR/bO+vj5kZGQgOTkZly9fxn/+8x/ceeedAK65cT377LN4/fXXsXDhQlcdNqNgXacYDNVcOhC9vb3o6enBxIkTnXIsVD+Gl5cXwsPD0dfXh6amJjQ0NECj0QBwnJOLSqVCQUEBeDweI52lnEV/B6uIiAjawYpaxdDr9azIGAONjY2oq6uDUCgcdW8QdZ14PB4SEhIQGRkJo9GItrY22orVbDbDz8/PI0WHSqVCYWEh4uLi3NqAgMPhICAggL5OfD4fJpMJHR0dqK2thVwuh9FohK+vr1OalC0xmUwQi8UgSRI3zspB+sQwHC7tQmWnGvwQX2TEjn7AzA/xQ3l7LxrkWmgMZixMce8eOOo6RUVFISEhgQ517OrqQm1tLSQSCfR6PXx8fODr62v1eaNEhqeuZNTV1WHJkiVYtWoV3nnnnXEnMs6cOYNFixZBqVSCx+NhypQpAK5lvPj5+eHrr7/GbbfdhpdffhlGoxFSqRSrVq3C9OnT8cILL7j46JkDu6LBYIZa0Whvb0dLSwtmz57t8OMYzFmKJEmoVCraGUmv14PH49Ezs/b48pVIJCgrK8OUKVOQkJDgtoMSd4YqUTmgmLYAACAASURBVAGu2bQ6ysHKk7FM+87OznbYoKSvr49ekaKa/qkSK08Qh93d3SguLkZSUhImTZrk6sMZNa7s67BsnhcKhfTEy2fnm/CPE/Xw9uLg32uyIYwffTNzSVsPHvisAFwOB0eenY24CGbm6hgMBrqvQy6X06WlPB4PKpWKDjQMCQlx9aHanfr6eixevBjLly/HP//5z3EnMoBrTlf3338/oqOjERkZiVdeeQW33HILfHx80NLSgq1bt2Lbtm0QCoUICQlBa2srBAIBnbHBYhvsigaDGWpFo6+vD3K53Kb68LHQP+nb8mFF+ZxHRUUhPj4efD5/wJnZ0WRAkCSJpqYmVFdXIyMjAxMnTmRFxiigSlQiIyMhEomQkJCACRMmgCRJesZPJpPBYDDA19fX5eUg7giV9k3ZhtqaTTAafHx8rPIFuFwu5HI5LXL0ej24XC78/PwYdz9IpVKUlJRg+vTpDn9uORpX5XUYDAYUFhbC19cXWVlZVs/V7Pgw1Ek1qJVqcKZOjjszohHkN7oVsehQPxS1qNCk0EJnMuOWaTx7/QlOhcvlIiQkBDExMVb5N1evXkV3dzfCw8Ph6+sLPz8/j1opb2xsxJIlS3DnnXfigw8+GJciAwACAgLQ2NiInTt3Yu/evTh37hwyMjIQHByMtrY2PPzww5g3bx4aGhowdepULFy4EP/85z9dfdiMg13RYDBmsxkm0/XJr8A1m9nKysrrUjvtieVKxkhD+KiZWcrmMywsDNHR0eDz+cP6uxMEgerqakgkEgiFQo+0GXQG1OxxQkLCgK5IgH0crDwZKu2bMiBwVS6GZfOrVCp1+ybl/nR0dKCiogIZGRke7XJG9XVQ95Q9+zooh67AwEDMmDFjwMGjRm/CA58X4Kq0DzNiQ/Dvtdmjbg4vaFZi9S4xvL04+Ok3cxAb5hkrn1evXkVzczPS0tJom2O1Ws1Ii+OBaG5uxuLFi3H77bdj27Zt41ZkUGRmZmL//v0IDAzEqlWrQJIkampqsGjRInz55ZeuPjyPgBUaDGYooUHZzC5YsMAh+6aSvu3hLEWVGUgkEigUCoSEhNCD2f4PdJPJhJKSEuj1egiFwhGHTrFco7OzE+Xl5UhJSbG5j2ekDlaejsFgQFFREby8vCAUCt2mX6L/YNZoNFoNZp3dLzAcLS0tqK2tRVZWFqKiolx9OE7DMq9DIpFYDWYFAsGIciB0Oh0KCgoQGhqK9PT0Ie/F5m4tVn6ajx6dCcsyo7H57tRRP78f+7cYlxqVeCh3Iv682LnhsPaGJEnU19ejpaXlupXJ/qVwAQEBtOigEqeZQFtbG+644w4sWLAAO3bscPsJCEdiMpng7e2NpUuXYuXKlXj00UfR2NiItLQ0BAUFYevWrbjvvvvoNPHxfK7GCls6xWCoBuyBMBqNaG1tRVJSkt33Sa1kALCLfS1VZhAbG4u4uDj4+PjQ5SCdnZ3Q6/Xw9vYGQRAoLCwEl8t16ewxk6FKzmpqapCVlYWYmBibX+vl5YXg4GBER0fTZQZqtZpumHR00787odVq6XwHZ4TIjYSBmpQtSxYVCoVbNJNTwZpUynJkZKTLjsUVcDgc+Pn5ISIiAnFxcYiNjYWXlxfkcjlqamrQ2dkJnU43bCkc1WMVGRk5rMgAgLAAH6RPCMEPpRJUdakR5MdF9ij7NSaE+uP7kk5Ud2mwInvCqEuxXA1l693W1jZg+WP/UrjAwED09vaivr4eTU1NUKvVIEnSrZ99HR0dWLx4MW688UZ8+umn437gTF2n2tpakCSJ3NxczJs3D6mpqQgLC8OVK1cQGhqKlJSUcX+uxgq7osFgCIKA0Wgc8HcajQbnz5/H7bffbrf99W/6Hmm51EixnEGXSqUgCAJBQUFISUlBREQEY2aR3AWSJFFdXY2uri67Niw7o+nfnaD6Wvh8PlJSxmYV6my0Wi19PymVSoSEhFg1kzvrb7FsnheJRB7ZbDsWqGcflQMxWCmcRqNBQUHBqGyAd19qxeajtfDiANsezMRNU0e+mkSSJFbvEqOwRYVHZ8fhj4uSR/wersZSZOTk5Iyox4p69lGrHX19fbR1rjsZaXR2dmLx4sWYNWsWdu3axQ6cLdi+fTu++OIL9PT0IDo6GidOnIBKpcKcOXOwaNEivP/++64+RMbDCg0GM5TQ0Ol0OHXqFBYtWmSXwUP/pm9nDq6oJlFq9l0qlYLD4YDP5yM6OnrcBpqNBLPZjLKyMqjVaohEIoeVnFHlINRgVq1We5SDlVKphFgsHrKvhSlQjjsSiQRyuRx+fn70dXJkOQhJkqisrIRcLmetlG1goFK4qKgohISEoLm5GbGxsaOyASZJEn85VI1vizoQ4ueNvb/OQSJv5JkY5+rkWPdVCfy9vXD8t3MRFcQcw4j+Kxlj/SxqNBpaICqVSgQHB9Oiw1U9bV1dXViyZAmEQiF2797tVquv7kBDQwMWLlyIjIwM7Nq1i57E1Gg07LPJTrBCg8EMJTSMRiNOnDiBW2+9dcwPFleKjObmZtTV1VmFn1l+8VKBZtSsbFRUFDtb0w+DwYDi4mKQJAmhUOhU5yhqBl0ikTDejnWkad9Mwmw2WzWTA6Cvkz2byQmCsBK8TBeezoYS8q2trWhrawNJkggPD6cF4kj6OgDAYCLw2L/FELf2IDEqEHt/nYMQ/5F9X5AkiQc+K0Bpey9+fUMCXrh1yohe7ypIkkRdXR3a29vtIjL6YzQarValvL29adERERHhlO8pqVSKJUuWID09HV9++aXHrS7bwnD9FXq9HhcuXEBWVhZdvsn2ZNgXVmgwmKGEBkEQOHbsGG655ZYx9TK4SmQQBIGamhp0dXUN6SxFkiR6enogkUjQ1dXl8WU7I4XqJQgODkZGRoZLH54Gg4FufLV0sOLz+QgNDXXr1YGxpn0zCSpJmZpBp+4papA02nvK0qFLJBKxVsmjhAo0nDx5MiZMmDBgXodAILD5npKpDVj5aT46e/S4aWoktj6QCa7XyO7FUzUyPL23FAE+XPz82zmICHTva+tokdEfgiCgUCjoa0WtSjkyRV4mk2Hp0qVITk7G3r17x9134dWrV+kAvsGEAysonAMrNBgMSZIwGAyD/u7YsWO46aabRjzLRb2eajZ3tsgwmUwoLS2FVqtFdna2zWU+JElCo9Ggq6sLEokEGo0GkZGR9GB2vDWP9/T0QCwWIzo6esT1246GKQ5WVMNyY2Oj1YzXeGEgZyTLGXRb702j0YiioiIAgFAoHHeDHnuhUChQVFREB5RaYmtfx0BUdPTikZ2F0JkIPD43Hi/eNnVEx0WSJO77JB+VnWqsv3ESfvsr+5qQ2BOqP6izsxM5OTlOX1m1vKekUil6e3utrHMDAwPH/Kzu7u7GnXfeicTERHz99dfjTtQfP34cixYtwhNPPIEdO3YAGFxU9PX1Qa1WQyAQOPswxw2s0GAwQwkN4NrNNmfOnBE3WloKDMDxTd+W6HQ6FBUVwcfHB5mZmWMakAyU1UHZ5nq6La5MJkNJSQmdsOxOIqM/BEGgu7ubnkEnSZJelXJlKRzlp97Z2ck2LP9/tFotPUBSKBR0DbpAIEBwcPCgWSyFhYXw8/NDZmYmO4M4SuRyOYqLizFt2jTExcUNue1gfR1DzaAfKe/CC99UAADeWp6KZZm2O9IBwPFKKX773zIE+3Hx82/nItTf/cSkq0XGQOh0Ologdnd3w9/fn75Oo5l0USgUuOuuuzBx4kTs379/RBNsCoUCzz33HA4ePAgAWLZsGT744AOEh4cP+hqSJPHaa69hx44dUCgUmD17Nj766COkp6fT2+j1erz44ovYs2cPtFotFi5ciK1bt1p9jm3Zd3NzM5555hmcPHkSAQEBeOihh/D3v/+d/jyfOnUKf/vb33D27FkQBAEul4t58+YhLy8PgLXYoKo1li9fDj8/P3z44YeYMGGCzeeKxXZYocFghhMaeXl5yM7OHvIhMdB7WjpLOXNmube3F2KxGFFRUUhNTbXrvvtndVA2rUzsFRiOtrY2usxnJPa17oC7OFgRBIHy8nKoVCqIRKJRrQp6OlQNOlUK5+PjY9VM7uXlRZfu2ZLvwDI4VH9QSkoKYmNjR/TawfI6BurreO/EVXxyvhm+XC/8e202Mifa7kxHkCTu2X4FtRINnp0/GU/PTxzRcToaauKgq6sLM2fOdMt72rJXSiaTgSAIeqUjKipq2H5LpVKJZcuWQSAQ4LvvvhvxKv7ixYvR2tpKrwKsW7cOkydPxqFDhwZ9zZYtW7Bp0ybs2rUL06ZNwxtvvIEzZ86gurqanpx56qmncOjQIezatQtRUVF44YUX0N3djYKCAnrgP9y+zWYzhEIh+Hw+/vGPf0Aul2PNmjVYsWIFPvjgAwDApk2bcO7cOZjNZjz11FP45ptv8OWXX2LhwoX4+eefAfySn0Gxe/dufPjhh7hw4QI7CeIgWKHBYIYTGmfOnEF6errNIVjUSobZbHaJs1RpaSkSExMxefJkh+67v9tOQECAR6RdU4FTzc3NHlHm4yoHKyoU0tVp30zCbDaju7ubXu2gmpSVSiX4fD7S0tIYe1+5mq6uLpSVldktNb1/+JxlX0dwSAie+7oMeTVy8IJ9se/XOZgwgsTvH8u68OK3FQj198bPv52LYDfJ1aBEhkQiQU5OjluKjP4MZJ0bERFBC4/+q/IqlQp33303IiIi8P3334/4+VhZWYm0tDT873//w+zZswEA//vf/zB37lxUVVVh+vTpAx5jbGwsnn/+ebz00ksArq1eREdHY8uWLVi/fj1UKhX4fD52796NVatWAbjW8xYfH48ff/wRixYtsmnfR44cwdKlS9HS0kKL7b1792Lt2rWQSCS0XbtMJkN+fj7uuOMOaLVazJ07FzU1Nbj//vvxxRdfALg2kUSSJDgcDry8vOjycBbHwJ5ZBjPcF7eXlxcdrDcc1EqGK0RGS0sLSktLkZaWhsTERIfv29fXF7GxsRAKhZg/fz6mTJmCvr4+5Ofn49y5c6iuroZCoQCTNDhBEKioqEB7eztyc3MZLzKAa5/vkJAQTJkyBXPmzMG8efPA4/HQ2dmJc+fO4fLly2hoaKCDAu2BwWBAQUEBSJLEzJkzWZFhI1wulxYUN998M6ZNmwa5XA6SJNHZ2Yni4mK0tbUNOTHCcj0dHR0oKyvDjBkz7GZC4O/vj/j4eIhEIixYsABJSUnQ6XQoLCzEubNn8ViqFxIj/SBTG/D03hJo9Cab33tRmgCJUYHo0Znw1ZU2uxzvWKHyg5gkMoBrz7/w8HAkJyfjhhtuwA033AAejweJRILz589j2bJl2LhxI06fPg2lUokVK1YgJCQEBw4cGNUkzMWLFxEWFkYP9AFgzpw5CAsLw4ULFwZ8TUNDAzo7O63yuvz8/DB//nz6NQUFBTAajVbbxMbGIiMjg97Gln1fvHgRGRkZVit6ixYtgl6vR0FBAQDQZbd33HEHACAgIACBgYG45ZZbcOLECaxevRrAtdXYt99+G42NjQCcW7kxHnGP6QaWUcPhcAYdEHO5XJuEBtWP4eymb2qWiQrtGkmJl73w9vZGdHQ0oqOjQRAE5HI5JBIJiouL6awOyuLTXR9G1Ay8Xq9Hbm6ux1qGBgQEYNKkSZg0aZKVg1V9fT29KjUWByuqzCckJAQZGRlue73dHZVKherqaiQlJWHy5MnQaDSQSqVobW1FZWXloGU7LNa0tbWhuroaQqHQ5lXpkeLt7Y2YmBjExMRYOSM9Od2Ezfkkqrs0eParQmx9MAsB/sOLbq4XB+tvmoQ/HqjEF/9rwSOz4hDo67pyFEpkSKVSzJw5k9G9eYGBgVbPv4aGBvzwww+477774O3tjaCgILqEaDR0dnYO2BAtEAjQ2dk56GsAXCeCo6Oj0dTURG/j6+uLiIiI67ahXm/Lvjs7O6/bT0REBHx9felt+j/39+/fj4KCApw7dw51dXV46aWXsHLlSuj1epw6dQrPP//8wCeDxa6wQsODGU5oUM5S1DbOFBlmsxmlpaXQaDSYNWuWWww4LF1aLJspKyoqYDabrXoF3KWWU6/XQywWw8fHB7m5ueMmjMnX1xcTJ07ExIkTYTKZaIFYWFhI+9WPxMGKSvseTcIyyy9QJgSWDcvBwcEIDg5GYmKiVdlObW0tgoKC6GvF5LJFe9PS0oLa2loIhUKnrU56eXkhKioKUVFRmD59OqIndeKp/1bjUosGv9t9Do8LQ20SiEsyBPjodCNaFFrsK2jDY3MTBt3WkXiSyOiPr68vnnzySTz00EO49957YTQaIRKJ8OKLL+LRRx/FbbfdhmXLluHOO+/Etm3b8Nprrw35fleuXAEwcJUEVWI0FP1/b8tr+m9jy75t2YZq+D516hTWrl2LTz75BLm5ucjIyIBer8fjjz+OlJQUNDQ0eNRnwp0ZH6OSccpQQsOVzlLU4JjL5WLWrFluaXXp5eWFyMhIREZGYvr06XRWR11dHcrKytwiq0Oj0aCwsBARERFIS0sbtzPw/VelKAer0tJSmxysKMvQSZMmOaV0z1OhegmGMiGgynbi4+NhNBppgZifn09bHFOBZuP189zY2IiGhgaXrfIC174P5k6bgLfu4eJ3+8txusMLMyYHYA5Xjtra2iEzcLy9vLDuxgT85VA1Pr/QggdnToS/j3MnZkiSRFVVFWQymceJDIq+vj6sXLmSzswKCQkBSZIoLy/HwYMHsWPHDqxbtw7vvfceKisrh3yvyZMno6SkBF1dXdf9TiqVDlq2R93nnZ2dVo5NEomEfk1MTAwMBgMUCoXVqoZEIsENN9xAbzPcvmNiYnDp0iWr3ysUChiNRnobSmR8+umnePbZZ/H+++/j0UcfBXDte+Lrr79GXFwczp8/f90KC4vjYJvBGY7BYBi0dKqoqAihoaFISrL2NHe1s1RRURFjB8dUVgfliqRWq12S1aFQKFBcXIy4uDhMmTKFHRwPwGAOVpbBc5QJgS2WoSyDQ5X5zJgxA3w+f8Sv729xPFK3HU+AJEk0NDSgubkZIpGIbm51NdvPNuKfeQ3gcjjY9uAMzJ4UauWMNFBeh8FMYPGH/0OHSo+XFyVj9Wzn3VuUyJDL5cjJyfFIkaHVarFy5UpotVocOXJk0EDbzs5O+Pj42FR6RzVkX7p0CbNmzQIAXLp0CXPmzBm2GXzjxo34wx/+AODamEQgEFzXDP6f//wHK1euBHCt9yguLu66ZvCh9k01g7e2ttKiZt++fVizZg0kEgmCgoJokfHkk09aOU0BwJ49e/DOO+/gyJEjHh+66m6wQoPhGI1GelWiP6WlpfD390dycjL9M1c6S8lkMpSWliIhIQFJSUkeMTh2RVZHV1cXysvLkZycjPj4eIfsw9MYyMEqMDAQfX19SElJYUXGGKBm4IVCoV1mCUmSpFcQpVIptFotIiMj6cGsJzboWyZVu1tmC0mSeOVgFQ4UdyLYj4svH8tBsuCaJfhQidd5LUZsOlqP6BA/HP3NHPh6O35SiSRJVFZWoru722NFhk6nwwMPPACVSoWjR4/addVr8eLFaG9vx/bt2wFcs5idNGmSlb1tSkoKNm/ejHvuuQfANXvbzZs3Y+fOnUhOTsabb76JU6dOXWdve/jwYezatQuRkZF48cUXIZfLr7O3HWrflL1tdHQ03nnnHXR3d2Pt2rVYvnw53n//fXC5XOzcuROPP/44Zs2ahe+//54+Zl9fX/j7+4MgCAQHB9vtfLHYBis0GM5QQqOiogJeXl5ISUkB8MtKhrObvgGgtbUV1dXVSEtL89hQHL1eT4sOKquDEh32erg1Nzejrq5u1DPHLL+EdrW0tCAwMBAajQYhISH0tfK0XBVHQZIkrl69itbWVofOwFPN5JSYDw39pVfAE66VZb6Du4TI9cdgIvDEf4qQ36xCbJg/9v46B7xg69C//mJe0aPGG0XeUOhIvHzbZKye69hcDUuRMXPmTI80xdDr9XjooYcglUpx/Phxu5f/dHd3Xxea9+GHH1qJGQ6Hg507d2Lt2rUAfgns2759u1VgX0ZGBv0anU6H3//+9/jqq6+sAvssJ8ps2XdzczOefvppq8C+LVu2IDAwEJWVlcjMzITJdL1L2vz583Hq1Cl7niqWEcAKDYYzlNCorq6GyWRCenq6S52lamtr0d7ejqysrHFTF2k0GunBEZXVQTW9jsYVydKhKzs7e9ClcpahGSjt29LBqru72y4OVp5Of8tQZw2O9Xq91bUaqleACVCDY6rMxx1MMQZD2WfEA58XoLlbi6yJodj5qHDI3gudTocdp2rx8WUZovxIvDnPDxNioh1yrUiSREVFBRQKhceKDIPBgEceeQTt7e34+eefPcLCfKxQPRm1tbWYOXMmHn74YXz00UeMew54OqzQYDhDCY26ujr09fUhIyODbgp3ZtO32WxGWVkZent7kZ2d7ZYzdc7A0hVJKpXSCcqUK9Jw18NsNqO8vBw9PT1sSvUYsCXt2/JayWQycLlcq2vFtJ4iR0BltiiVSpeWpwx0rSgxz4Rmcqpx19XncSQ0yPrw4OcF6NGZsCRdgHdWDB3E2Gcw47Z/XYSiz4hXfhWLzDDDoH0do2W8iIw1a9agsbERJ06cAI/Hc/UhuQ319fVIT0/HmjVrsG3bNlZkuCGs0GA4JpNpUGephoYGKBQKzJgxA4DznaWoLIqsrCz4+voO/6JxgGXTq0QiAQB6IDtQVofRaERRUREIgkB2djZ7HkeJZdq3SCSy6Tz2b1C2xcHK06FsqbVaLUQikdv0S1j2CkgkEpjNZkRFRdHOcO7WTE4QBMrKyqBWq5GTk+M259EWLjUo8OSXxTARJDbcNAnP3ZI05PYfn23Ev/IakCwIwnfrcwGSHLSvg8fjjegZR4kMSqx5osgwGo147LHHUFtbi5MnT7IlsxaYzWasW7cOHA4HO3bscPvJhfEKKzQYzmBCgyRJtLW1obKykrb+dFbonFqthlgsRnh4ONLS0sblgMwWLLM6qMGRpW2uwWCAWCxGQEAAMjMz2fM4Sqjz6O3tjaysrFENOm1xsPJ0TCaTleh117+ZaianBrIajcYlznCDQRAESkpKoNVqkZOTw8jJg2/EHfjLoSoAwN+WTsd9othBt+3RGbHw/YvQGMz4cNUM/Gr6L7PxA5k0hIeH0/fVUKu31IqQSqXyaJHxxBNPoKKiAidPnmTdkgZALpczYgVzPMMKDYYzkNCgmr7NZjPt3kINZKnSAkfNyMrlcpSUlCA+Pp61XR0Blk47EokEWq0WABAeHo4ZM2a4fHDEVByR9j2QxXFERAQ9kPXEAQ8l1nx8fJCVlcUo0Us5w0mlUqhUKoSGhtLPQWeXc5rNZhQXF9MBa+4q1mzhg7x6bDvbBC6Hg48emIGbkwe3UH33xFV8er4ZM2JDsPfXOYN+L1gGOg7Vg2MpMmbOnOmRz0eTyYR169ahpKQEJ0+eHDSbhoXF3WGFBsMxm81WLgskSdL/b1kqRQ1ku7q6IJFIYDAYrGbP7VFa0NbWhqqqKqSmpiI2dvAZLpahodKVw8LCYDQa6awOanDkiV+qjqC3txdisdjhad9arZYeyCqVSo9zsNLpdCgsLERQUBBmzJjB6JnD/o3//v7+9EA2LCzMoRMj1IoQSZLIzs52u3KukWJpexvgw8W/12QjPXZgW16Z2oDb/nURehOBz1cLMSdxeFMQKtBxoLyOjo4ORpad2YrZbMaGDRtw5coVnDp1iv0+ZWE0rNBgOJZCw1ZnKWq5mhIdWq2WrmceTRkIZXPZ0tKCrKws1g1jDLS3t9PhRZQNMDWQlUgkUKlUTsnqYDquSvv2NAervr4+On0+NTWV0SKjP1QzOTWDbs8G5f4YjUaIxWJwuVwIhUJGrQgNhcFM4Ok9JbhQr0BUkC/2PC5CXMTAz6Q3jtTgqyttmJMYgc9XC0e0H6oHRyKRoL29HQRBgMfjITo62uNKF81mM5599llcuHABeXl5bMYPC+NhhQbDMZvNMBqNdLkUMPKmb6pGtn/StUAgGLZ+2NIRSSgUsmE4o4RKBW5qakJmZuagSa797T0tszqCgoIYN5B1BBKJBGVlZS5P+2a6g5VarUZBQQFiYmIwbdo0j/5sWfZLUQ3KVA8Oj8cb00DWYDCgsLAQfn5+HtlrpdabsHqXGNVdaiRGBeLLx0UID7j+fLUpdVj84f9gIkjseVyErLiRWXRTrnE9PT1ISUmBUqkccV+Hu2M2m/Hcc8/hzJkzyMvLQ0JCgqsPiYVlzLBCg+GYTCbo9XpQl3Gsg5f+Sdfh4eH04Kh/7bnBYEBRUREAQCgUMrKp0R0gCAJVVVWQyWTIzs62ORW4f1YHVQYy2qwOT6C1tRU1NTXIyMiAQCBw9eHQMM3BSqVSQSwWIyEhwakrQu4ASZLo7e2l7y2NRjPqHhyDwYCCggIEBgYyvuxsKLp69Hjw8wJ09ughig/DZ6uz4Od9/Wf6T99X4kBxJ341nYcPV82w+f0tXbpmzpxp9V1D9XVQQalBQUG06GDSc5AgCGzcuBE///wz8vLyMHnyZFcfEguLXWCFBsN56qmnEBUVheXLlyM1NdWuD1WdTkeLDqVSSSfyRkdHgyAIiMVihIaGIj093e0GSkzBbDbTDjQikWjUjcRmsxkymYyePff29rbKFGDKl+1oIUkSjY2NaGxshFAodOtgSHd3sOru7kZRURGmTp3Kzqhi4B4cy2byoRqbKSOC9PR0jxUZFLUSNR7ZKUav3oRFaXz84950ePU7N/UyDe7aehkkgO835CJZMPwKOCUyNBrNsC5d/fs6uFwuLeid5bo4GgiCwIsvvogjR44gLy8PSUlDWwazsDAJVmgwnN27d2Pfvn34+eefkZiYiGXLlmH58uV2nz2zLNmRy+UArjkipaamsuVSo4Ry8uFyucjKyrLbAHOkWR1Mh0qp7urqZyz2sAAAIABJREFUotO+mYK7OVhRZWcpKSlsA+oAGAwGWtDL5XL4+fnR18oyfFOr1aKgoAARERFISxs61M6TsMzYWDMnHi/dPvW6bZ7/bxmOVUqxdEY03r4nbcj3IwgCpaWl6OvrG7EVsGW2Sv+8DncQ9BQEQeCll17CwYMHkZeXh6lTrz9nLCxMhhUaHoJKpcLhw4fx7bff4qeffkJMTAwtOnJycuw2uGxvb0dFRQViYmJgNBrphtfo6GgIBAIEBwePmy/VsaDRaOgVIXvZrg4ESZJWWR1Go9HK4pjpzjfUbGdvby9EIhHjm+O1Wi0t6J3tYNXe3o6qqiq3KztzV8xms1UzOQDavaq+vh58Ph8pKSnj7nl4uLQLf/iuAgDwh9umYO1c61Wxio5e3PdJPrw4wJFn5yB+kObxsYiM/owlr8OREASBP/3pT/jmm2+Ql5eHadOmueQ4WFgcCSs0PBC1Wo0jR47g22+/xY8//oiwsDDcddddWL58OebMmTOqMieSJFFfX4/m5marZmWTyQSZTIauri7IZDL4+fnRooNJ9bHORKlUoqioCBMnTsTUqVOddo76Z3XodLoxuY25GpPJZJVJ4Gk9QgM5WFEi0d73VnNzM+rq6pCVlTWoEQHL4BAEAZVKhba2NnR0dIDD4dAlO0y8t8bKZ+eb8I8T9QCAt5anYlmmdQbEui+Lce5qN1bmxOLVO6df93p7ioyB0Gq19MqUq/o6CILAX//6V+zZswd5eXlISUlx+D5ZWFwBKzQ8HK1Wi2PHjuHbb7/FoUOH4Ofnh6VLl2L58uW48cYbbfoCpNw+lEolsrOzBy2Vomb4KNHh7e1t5bLDio5fSlPcof69v9sYVbLDhKwOe6R9M4nBHKz4fP6YUnEt3c5EIhHCwkbmBMTyC729vSgoKMDEiRMRExNDi0Rq9py6XkxfdbMFkiTx9rE6fHGpFd5eHHy4yjrQL79JiUe/EMOHy8Hx5+ZCEPLL84ZKTtfpdE6ZQKD6OqhyOGf0dZAkib/97W/44osvcPLkSaSlDV1CxsLCZFihMY4wGAzIy8vDN998gwMHDoAgCCxduhR33303FixYMODgsqurC7W1tfDx8YFQKLR5AEoQBP3wlkql4HA49CB2LAMjJtPS0oLa2lq3LE3pn9VBNf4LBAK3s4t0RNo3k6B6cKiBLEEQVuVwtq5YkiSJmpoadHZ2Mq63xd2gXLqo3BZLqHI4qVQKhUKB4OBg+np5cqkpQZJ4+UAlDpV2IcDHC5+vFtKWtiRJYvUuMQpbVFg7Jx5/+P+9HJYiIycnx+krQc7o6yBJEm+++SY++eQTnDx5EhkZGXY4chYW94UVGuMUk8mEs2fPYv/+/Thw4AA0Gg2WLFmCu+++G7feeisCAgJQVlaGFStWYMWKFdi0adOonaUsw5YkEglIkrQaGHn6QJEkSdTV1aGtrQ1CoRDh4eGuPqQhceesjt7eXhQWFiI6Otqhad9MYSAHK1vK4UiSREVFBRQKBUQikduJSSahVCohFouRlJSESZMmDbmt0Wi0aib38fGxaib3tGeh0Uzgmb2lOHe1G2EB3ti9VoSp/Gu9Rqdr5XhqTwkCfLg48du5CPXnori4GHq93iUioz+WNsf9+zpGG5ZKkiS2bNmCrVu34uTJk8jMzLT5tQqFAs899xwOHjwIAFi2bBk++OCDIb9PSJLEa6+9hh07dkChUGD27Nn46KOPkJ6eTm+j1+vx4osvYs+ePdBqtVi4cCG2bt1qlUFky76bm5vxzDPP4OTJkwgICMBDDz2Ev//97wOuSNXV1SE7OxtcLhdKpdLmc8DCTFihwQKz2YyLFy/SKx0ymQzz5s3DhQsXcNddd2Hbtm12K03p35xsMpnoZWoej+dxNrlU2ZlKpUJ2drbDG3rtjeXASCaTuTSrg0r7njx5MiZPnjzuRUZ/bHWwourfNRrNmCyVWX6xAk5OTkZ8fPyIXms2m+mVKSZkq4yWPoMZj+8uQklbD2JC/fDlYyJMCPMHSZL/j70zj2vqyt//E5QdCUtCEAFBBBEQCGgRrVtdEBUSu9l2hqn9zq86dapjpy6d9tsWW6uDS1e1o9NWWh1rRwjiLloVqiiVsAgIbqiAQBLCvmQhub8/fOV+CYuyBLJw3q+Xf5jcm3O4N8t5zjmf58Hz+7JxS9SMt2aMxbMODVAoFAgLC9O7yOiOzitTfa3roCgKO3bswNdff43z58+Dy+X2qf3o6GhUVFRg3759AIAVK1bAy8sLx48f7/GchIQEfPbZZ0hMTISfnx82b96MjIwM3Lp1i17BfOutt3D8+HEkJibC2dkZ7777LmprayEUCun34NPaVqlUCA0NBZvNxs6dOyGVSvH666/j+eefxzfffKPVJ6VSiWnTpoHNZiMzM5MIjWEAERoELdRqNbZs2YJPPvkEfn5+KC0txdy5c8Hj8bBo0SIwmUydDfC6K07uWEBp7PvulUol8vPz0d7eDi6Xa/B1D0+jc1bHUCZdG0ratzHRnYMVi8VCbW0t1Go1uFyuyRXQDyU1NTW4ceOGTqyAe1qZ0gxkjf0+1bcq8cfEHJTWtGIcywYHl4fBwcYcp4vEeDe5CLbmDGyfaYXpz+h/JaM3dFfXoblX3dV1UBSFL7/8Ejt37kRaWhomT57cp/aKi4sREBCAa9euISIiAgBw7do1REZGoqSkBBMmdC2opygKbm5uWLt2LTZu3Ajg8eoFh8NBQkICVq5ciYaGBrDZbBw4cADLli0D8Nh9zsPDA6dOnUJUVFSv2j59+jSWLFmC8vJy+rNw+PBhLF++HGKxGPb29nS/Nm7ciMrKSsydOxdr164lQmMYYNwjOYJOoSgKW7duxfbt23Hs2DEsWLAAhYWFSEpKwpdffom//vWvmDNnDng8HhYvXgxnZ+cBiQ4GgwEmkwkmk4nx48fTxckPHjzAzZs34eTkBA6HY5SuLTKZDLm5ubCyskJoaKjRiyYAGDFiBDgcDh3YqMnqKCgoGNTtcIaa9m3oWFtbw9PTE56enlAoFKiursa9e/fQ3t4OGxsbPHz4kLjD9RPN+z4wMBCurq5PP+EpMBgMODg4wMHBAb6+vmhpaYFEIkFFRQWKi4vBZDLpCRhj3ObmYGOOfX8IwR/3PxYbf/n5Bn6IC8VcPye42pqhukWNuxQHs43ke97c3Byurq5wdXXVqusoLi6GUqnElStXwGKx8MILL4DNZuObb77Bjh07cPbs2T6LDAC4evUqmEwmPdAHgKlTp4LJZCIzM7NboXH//n1UV1djwYIF9GOWlpaYNWsWMjMzsXLlSgiFQiiVSq1j3NzcEBQUhMzMTERFRfWq7atXryIoKEhLcEdFRUEul0MoFGLOnDkAgAsXLuDIkSPIy8uDQCDo83UgGCfGP/oh6ASFQoGVK1fi/Pnz+O233+i9o8HBwQgODsamTZtw69YtJCcn47vvvsOaNWvw7LPPgs/nIyYmBhwOZ8CiY9SoURg1ahR8fHzoLSBlZWW4efMmHB0dadFh6CsDTU1NyM3NBYvFgr+/v8ntuwYAMzMzsFgssFgsre1wJSUlUCqVYLFY4HA4A8rq6OiIxOVyDTrt29ChKAqPHj2Cg4MDAgIC6PuVk5OjMwer4UJ1dTWKioowadKkQRG+DAYDdnZ2sLOzg7e3N2QyGb1l586dO/SWHRcXF4waNcpoRKIb0wr7/hCCuMQc3HjUiL/9twBv+quwyHskfihU4KffKxE31ROWI41ry5iZmRmcnZ3h7OyMCRMmoKmpCVeuXMHevXuxceNG+Pn54f79+zh48CCeeeaZfrVRXV3d7XvNxcUF1dXVPZ4DABwOR+txDoeDhw8f0sdYWFh0+W7lcDj0+b1pu7q6uks7jo6OsLCwoI+RSqVYvnw5Dh48qLXCQTB9yC8KAQBw7Ngx3LhxA1lZWd0WqDEYDPj7++ODDz5AdnY2SkpKEB0djcOHD8PPzw9RUVHYtWsXysvLoYvdeLa2tvD29sbUqVMxffp0sFgsVFZW4rfffsP169dRVlYGmUw24HZ0TW1tLbKzs+Hu7o6JEycOi0Ebg8GAo6MjJkyYgGeffRaTJ0+GjY0N7t27h/T0dOTl5aGyshJKpbLXr6lJ+y4vL8fkyZOJyBgAbW1tyM7Ohp2dHUJCQuism0mTJmHWrFkIDAwERVEoLCxEeno6CgsLIRaLoVKp9N11g0MTWBoSEjJkq2tWVlbw8PBAWFgYZs2aBS8vL7S2tiI7OxuXL19GSUkJpFIp1Gr1kPRnIIxn2+LbV4JhNdIMV0rrsCenBX+JngxXe0vUNCuQktf9oNlYYDAYsLe3x4cffojc3Fx8+OGHUKlUmDRpEl599VUEBwfjww8/xPXr16FWqxEfHw8Gg/HEf9nZ2fRrd4aiqKcKzc7P9+aczsf0pu2nHfPmm2/itddew8yZM5/YNsH0ICsaBADAiy++iJiYmF6tFjAYDPj4+GDDhg1Yv349ysvLIRAIkJKSgvfffx9hYWHg8Xjg8Xjw9vYe8IybtbU1xo4di7Fjx9KzeyKRCLdv3zYoG9aqqircvHkTEydOHPCebWNF80Nrb29Pb4eTSCRaK1NPy+romPb9zDPPDIvcgcGipaUFQqGwx5TqjrOx/v7+dJ3A7du3e+1gNVzQ2FOHhobCyclJL30wNzfH6NGjMXr0aK3ti4WFhbTNMZvNHtBK4mAzyc0Oq8Os8Pn1VvxercK28/fxRqQHtp69ix8yy/Bi2GiMNPIJGoqi8P3332Pnzp04ceIEZs6ciYaGBpw5cwapqamYP38+bG1tsWrVKhQXFz/xtby8vHDjxg2IRKIuz0kkki4rCRo0W/qqq6sxevRo+nGxWEyf4+rqCoVCgbq6Oq3JHLFYjGnTptHHPK1tV1dXZGVlaT1fV1cHpVJJH3PhwgUcO3YMO3bsoK+RWq3GyJEjsW/fPvzP//zPE68DwXghxeAEnUFRFKqrq3H06FEkJycjPT0dgYGBtOjQtR2pQqGgiyc727D2FCo4GFAUhQcPHuD+/fsIDg4Gi8UasraNid5kdWjSvjUF9MZeBKtPGhsbkZOTA3d3d/j4+PTps9eTg5Vmy85wc6p6+PAhSktLweVyDdKeuqOxhkQiQVtbG5ycnGjhYSjbTVUqFfLy8qBWqyGxcseGoyVQU8CycDecK5agtlWJhKUTETNp4HUv+oKiKPz444/YuHEjjh8/jtmzZ3c5RqFQICMjA2ZmZnjuueee+pqaguysrCx6+1VWVhamTp361GLwd955Bxs2bKDbdXFx6VIMfvDgQbz88ssAHk+Yubu7dykGf1LbmmLwiooKWtT88ssveP311+li8OLiYq1V0tTUVCQkJCAzMxNjxowhq9YmDBEahEGBoihIpVKkpqZCIBDg119/xbhx48Dj8cDn8xEYGKjTbUVKpZJ22JFKpbC2toaLiws4HM6ghmJRFIWSkhKIxWJwuVyy97SXdM7qsLW1hbOzMyQSCaysrIZF2vdgorEC9vb2hpeX14BfrzsHq47ZKqbM/fv38eDBA6NKTteIRIlEgsbGRlrUs9lsvd2vjiKDy+Vi5MiREORV4X+PlQAA7K1GolHWDl8XW6SsnAIzI6k96QhFUThw4ADWr1+P1NTUXomI3hIdHY3Kykrs3bsXwGOL2bFjx2rZ2/r7+2Pr1q1YunQpgMf2tlu3bsX+/fvh6+uLLVu24NKlS13sbU+cOIHExEQ4OTlh3bp1kEqlXextn9S2xt6Ww+Fg+/btqK2txfLly8Hn87vY22pITEwkrlPDBCI0CENCfX09jh8/DoFAgLNnz8LNzQ2xsbHg8/kICwvTqehob2/XsmG1sLCgRYcuHXZUKhUKCgrQ2toKLpdLtvj0E6VSicrKSty9exdqtRrW1tbgcDjEEamfaGxXB8sKWKFQaIlEa2treqXDlO4XRVG4d+8eKioqEB4ebrTJ6Z1FvY2NDS06hup+dScyNBzIqsDWs3e0jt+9bBLmTDCulWGKonDo0CG88847SElJwfz583X6+rW1tV1C83bt2qW1wsZgMLB//34sX76c7tOmTZuwd+9ercC+jmnkMpkM69evx6FDh7QC+zrmwvSm7bKyMqxatapLYF9Pq2lEaAwfiNAgDDnNzc04deoUkpOTcfr0aTg6OiI2NhY8Hg8RERE6DapSqVS037lEItHKfnB0dOz3j6xCoUBeXh4YDAZCQ0OH/f71gaBJ+3Z1dYWPjw+977zz/TLF5GRdo3FE0pXt6tNob2+nP18ds1WM3cGKoijcuXMHVVVVCA8PH9KtmINJd/dLIxIH636pVCrk5uaCoqguIkPDvzIe4OtL9+n/h7rb4z9vhBmNaKUoCv/973+xevVqHDlyBNHR0fruEoFgMBChQdArra2tSEtLg0AgwIkTJ2BlZYWYmBjw+XxMnz5dp9tnOhZPisViMBgMsNlscDicPv3Itra2Ijc3F3Z2dggKCjKZBF99UFtbi/z8/G7TvjX+9CKRiE5O1gyKnJycyHXvhCZvRF91Qpr7pfl8aYqTjS3pWrMdsqamBuHh4Xo3mRgsOt4viUQClUpFF/+zWCydfPdqRAYAcLncHt8DFEVhx/l72H+1nH7sxz+FYoqXcezbT0pKwqpVq/DLL79g8eLF+u4OgWBQEKFBMBgUCgXOnz8PgUCA1NRUAMCSJUvA5/Mxa9YsnRYGq9VqOktAY+WpER1PGsQ2NDQgNzcXo0ePhp+fn9HMuBkiGrecCRMmYMyYMU88tmNWh1gsprM6dDkoMmY0ZgShoaEGUVSpSbrWbNmRyWRG4WBFURRu3ryJuro6hIeHD5vtkJpics39am1thZOTE32/+lNM3t7ejtzcXDAYjCeKjI59iD95G0dyKgEAz/o4Yd8fQvr19wwlKSkpWLFiBX7++WfExsbquzsEgsFBhAbBIGlvb0d6ejqSkpKQmpqKtrY2LFq0CDweD3PnztXpAEAzKBKLxRCJRFqBcywWi/6BlEgkKCgogI+PD8aOHauz9ocjA0n7pigKTU1NtOjQOOxo7tdwcqqiKAp3797Fo0ePEBYWZpBmBMbiYKVWq1FUVISmpiaEhYUZTL/0QWtrK73SoXGI09yv3hSTa0SGmZkZQkNDe72apVJTeO9oMU4WPrZTPfbWMxjPNlyzgWPHjuHPf/4zDh48SBdgEwgEbYjQIBg8KpUKmZmZSEpKwtGjR1FXV4eoqCjweDxERUXp1EWl4yBWJBJBJpPRM+bV1dUICgrq0bec8HQ6pn3rava94yC2qamJzupgs9kmPVjsuMUnLCzMaNyfDNHBSq1W08YO4eHhw0qsPo3Oxf9WVlb054vJZHZZ1e2vyNCgVKmxMaUYF2/XIHnFZIxjGeb7+sSJE3jjjTeQmJiIl156Sd/dIRAMFiI0CEaFWq3G9evXkZycjJSUFDx69Ajz588Hj8dDdHS0Tl1UKIpCc3MzSkpKUF9fDwaDobX9gwxG+oYm7VtjBTwYLj6aQaxIJOoxq8MU0My+NzY2IiwszGi3+PQ0iB1KByuVSoUbN25AoVAgLCzMYLd1GQKaYnKJRAKJRAIzMzM6q8PJyQkURSEnJwcjRozol8joiEKlhsUIwzQTOH36NP70pz/hhx9+wLJly/TdHQLBoCFCg2C0qNVq5Ofn06Lj7t27eO6558Dj8bBkyZIBuUppXl+zX5vL5cLMzAwikajLzPmTUq4Jj+mY9j1UA+POgY62trZagY7GWl+jGRjL5XKEhYWZjODVh4OVxnZVpVKBy+USkdEHOta5SSQSKJVKmJmZwdLSElwu12RXE8+dO4c//OEP2LdvH1599VWj/R4hEIYKIjQIJgFFUSguLkZSUhJSUlJQVFSEGTNmgMfjISYmBi4uLn36QdAkVCuVSnC53C5ConPKNZPJpAexxjq7PFgYQtq3UqnUylaxtLQEh8PpcfuHodLe3o68vDxQFGXStspD4WDVsVg5NDR02BsKDASFQgGhUAiVSoURI0agpaXFJLcwXrhwAa+88gr27NmDuLg4o/neIBD0CREaBJNDE7SVnJwMgUAAoVCIadOm0Vkdbm5uT/yBkMlkyMvLg4WFBYKDg586AJHL5fSAqK6uziD2nBsKcrkcubm5vb6WQ8GTslUMOatDoVAgNzcX5ubmCAkJMRq72IEyGA5WSqUSOTk5w+5aDgZKpRK5ubkYOXIkfS01EzESiYSuw+lYTG6MA/T09HS8/PLL+Prrr7F8+XKj/BsIBH1AhAbBpKEoCmVlZRAIBEhJSUFmZiYmT54MHo+H2NjYLtkNQqEQycnJ+MMf/oCJEyf2edDZcc+5VCqlt+twOByj/YHtL62trcjJyQGTyURgYKBBDuA7z5wbalaHTCZDTk4Ond1iiNdyKNCFg5Vm9t3a2hrBwcHD9lrqAo1g00wkdPd5USgU9GqiVCqFpaUlLRIdHByM4jsxIyMDL730Er744gv8+c9/Noo+EwiGAhEahGEDRVGoqqpCSkoKBAIBMjIyEBQUBB6PBx6Ph3v37mH58uWIi4vDjh07Bvxj0nm7jqbQlcPhYNSoUSb9Y9Ux7dtY8kY0M+eaOhxDyepobW2FUCiEk5MTAgICjOJaDhU9OVix2exu07zlcjmEQuGwF2y6oKPICAkJ6dW11KwmaorJARiksO/IlStX8MILLyAhIQF/+ctfyOePQOgjRGgQhiUURUEqlSI1NRVJSUk4f/48zMzMwOfzsW7dun6tZjwJlUpFiw6JRAJzc3NadBhTjUBveFLat7HQU1bHUDuOaQTb6NGj4evra5TXcqjoPHPe2cFKJpNBKBTCwcEBgYGB5FoOgP6IjM6o1Wo6v0gikUAul4PFYtEuVoZQf3T16lU8//zz+Oyzz/DXv/6VvGcIhH5AhAZh2PP555/j448/xooVK3D37l2cO3cO7u7u9EpHaGiozkVHbW0tPYg1lhqB3iASiVBUVNSrtG9jQh9ZHfX19cjNzTVqwaYvOjtYmZmZQaVSwdHRscctPoTeoVQqIRQKYWVlpbOtZxorcc3qVHNzMxwcHOjPmD4MNn7//Xfw+Xx88sknWL16Nfn8EQj9hAgNwrBFpVLh3Xffxc8//4yTJ09i8uTJAB7PIp88eRICgQCnT58Gi8VCTEwM+Hw+pkyZotNBiqZGQCQSQSKRgKIoWnQ4OTkZlejQpH1PmjQJbDZb390ZNDpv1xmMrA6pVIr8/Hz4+vrCw8NDJ685XGlqaoJQKISlpSUUCsWgOFgNFwZDZHSH5jMmkUhQV1cHOzs7+p4NhTW1UChEbGwsPvzwQ7zzzjtEZBAIA4AIDcKwRCaT4Y9//CMKCgpw+vRpjBs3rtvjWltbcebMGQgEApw8eRI2Nja06Jg2bZpO9+1TFIX6+nq6RkClUhnFgIiiKJSWlqKsrAxcLhcODg767tKQ0VPx/0AGRGKxGIWFhZg4cSJGjx49CL0ePmi2nrm5uWH8+PEAoHMHq+GCQqFATk7OoIuMznSsdZNKpfS2U00xua77kZubiyVLluD999/HunXriMggEAaI8UyXEgg6xt3dHZmZmT2KDACwsbHB888/j4MHD6Kqqgr79u2DQqHAH//4R4wfPx5vv/02zp8/D4VCMeD+MBgMODo6wt/fHzNmzKDD2G7fvo309HTcuHED1dXVaG9vH3BbuoKiKJSUlODRo0eYMmXKsBIZAGBhYYExY8aAy+Vi1qxZ8PLyQnNzM37//XdcuXIFt2/fRn19PXo7n1NZWYnCwkIEBQURkTFAGhsbIRQK4eHhQde3MBgMODg4wNfXF9OmTUNERATs7e1RVlaG9PR0CIVClJWVQSaT6bv7BoU+nbrMzc0xevRohISEYNasWfD394dKpUJBQQEyMjJQWFhIT8wMlPz8fMTExGDDhg19Fhl1dXWIi4sDk8kEk8lEXFwc6uvrn3gORVGIj4+Hm5sbrK2tMXv2bBQVFWkdI5fLsXr1arBYLNja2iI2NhYVFRV9brusrAwxMTGwtbUFi8XCmjVruvxuURSFHTt2wM/PD5aWlvDw8MCWLVt6fQ0IhO4gKxrDkD179mD79u2oqqpCYGAgvvzyS8yYMUPf3TIqlEol0tPTkZSUhNTUVMjlcixevBg8Hg/PPfecTvfta/Yva1Y62traDGIWVq1Wo6CgAM3NzUOW9m0sdM7qMDMzo1c6ekq5Lisrw927dxEaGgonJyc99Np00NS3eHt7w8vLq1fn9NXBarigERk2NjaYNGmSwWzn1LjEaWqn5HI5nJ2d6WLyvho2FBQUYNGiRVi7di3+93//t88rGdHR0aioqMC+ffsAACtWrICXlxeOHz/e4zkJCQn47LPPkJiYCD8/P2zevBkZGRm4desWRo0aBQB46623cPz4cSQmJsLZ2RnvvvsuamtrIRQK6VXup7WtUqkQGhoKNpuNnTt3QiqV4vXXX8fzzz+Pb775hu7PmjVrkJaWhm3btmHSpEloaGhATU0N5s2b16drQSB0hAiNYcYvv/yCuLg47NmzB9OnT8fevXvx3Xff4ebNm/D09NR394wSlUqFy5cvIzk5GUePHkVDQwMWLlwIHo+H+fPn6zy0r7m5WStHQOOG5OLiMmRuSJqEarVajdDQUL2kfRsLT8vqMDMzQ2lpKcrLy8HlcsFkMvXdZaOmtrYWeXl5A6pveZqD1XDZTmOoIqMzmnwVjVBsamoCk8mkheLTaqdu3ryJ6OhorFq1CvHx8X2+v8XFxQgICMC1a9cQEREBALh27RoiIyNRUlKCCRMmdNtnNzc3rF27Fhs3bgTwePWCw+EgISEBK1euRENDA9hsNg4cOIBly5YBeLzq6eHhgVOnTiEqKqpXbZ8+fRpLlixBeXk53NzcAACHDx/G8uXLIRaLYW9vj+LiYgQHB6OwsLDb/hII/YUIjWFGREQEwsLC8O2339KPTZw4EXw+H1u3btVjz0wDtVqNrKwsWnThJczoAAAgAElEQVRUVVVh/vz54PF4iI6Ohr29vU7ba21tpQewjY2NtFNLb8PL+kPHtG+Sqtw3Os/CKhQKWFpaQi6XIywsbNhtPdM1miJ6XbqeaaypNcXJI0aMoIViT6tTpoBGZNja2hpd5ohMJqPvV21tLWxtbel71jnDqLi4GIsWLcKbb76JTz/9tF8i8ocffsDf//73LtuVHBwc8MUXX+CNN97ock5paSl8fHyQk5MDLpdLP87j8eDg4IAff/wRFy5cwNy5c1FbWwtHR0f6mJCQEPD5fGzatKlXbX/00UdITU1Ffn4+/XxdXR2cnJxw4cIFzJkzB9u2bcP333+PFStWYNeuXaAoCvPmzcO2bdvICithQOgngYqgFzQ/HO+9957W4wsWLEBmZqaeemVamJmZITIyEpGRkdi2bRvy8vKQlJSEbdu24a233sLcuXMRGxuLxYsXw9HRccAzozY2NrT9qUwmowewt2/fpt2QOByOzrY1adK+HRwcEBAQYFSDD0NAUyPg4OAAHx8fFBQUoK6uDpaWlsjOztbaEkdWifqGRCJBQUGBzovoR4wYAQ6HAw6Ho7U6VVhYSDtYsdlssFgskxHdCoUC2dnZRhtsaGVlBQ8PD3h4eNDF5BKJBBkZGXjnnXcwY8YM8Pl8eHt7g8/n44033sAnn3zS7+/j6upquLi4dHncxcUF1dXVPZ4DABwOR+txDoeDhw8f0sdYWFhoiQzNMZrze9N2dXV1l3YcHR1hYWFBH1NaWoqHDx/iyJEj+Omnn6BSqfDOO+/gxRdfxIULF556DQiEniBCYxhRU1MDlUrV7RdbT1+GhP5jZmaGsLAwhIWF4bPPPsPNmzeRlJSEPXv2YPXq1Zg1axZ4PB6WLFkCNps9YNFhZWUFT09PeHp6Qi6X09sI7t69Czs7O3A4HLi4uPR7K1djYyNyc3ONKu3bUFGr1SgsLERrayumTZsGS0tLOqujoqICxcXFQ7I6ZSqIRCK6iL7z95suMTMzg7OzM5ydneHv74/Gxkb6M1ZYWEgLRRaLZbRCUZOePmrUKAQGBhqdyOiMpph89OjRmDBhArZu3YrU1FSsWrUKra2tGDduHMLDw9Ha2tqlFic+Ph6bNm164utfv34dALr9PqQo6qnfk52f7805nY/pTdtPO0atVkMul+Onn36Cn58fAOD7779HeHg4bt26RbZTEfoNERrDkP58sREGBoPBQGBgIAIDA/HRRx/h7t27SEpKwk8//YR33nkHkZGR4PP5iI2NxejRowd8PywtLeHu7g53d3colUpIJBKIRCKUlpbC2tqaFh29tWDVpH33pbiW0D3t7e3Iz89He3s7Jk+eTA9IbW1t4e3tDW9v7y6rU5rC5IEIRVOlsrISJSUlCA4OHtL8FgaDQbv8jB8/nhaKZWVluHnzplEKRVMTGZ2xtLTEiy++CC6Xi6ysLCxcuBAeHh746KOPEBcXh3nz5oHP5yMmJgYcDgdvv/02XnnllSe+ppeXF27cuAGRSNTlOYlE0qPwdXV1BfB4taHjCpxYLKbPcXV1hUKhQF1dndaqhlgsxrRp0+hjnta2q6srsrKytJ6vq6uDUqmkjxk9ejRGjhxJiwzg8bZq4LFRBREahP5iWt8ihCeiWdrvvHrR8YuNMPgwGAz4+vriH//4B7KysnDnzh3weDwIBAL4+/tj3rx5+Oqrr/Dw4cNe26I+CXNzc7i5udEWrOPGjdOyYL1z5w4aGhp6bEskEiE3NxcTJkwgImOAKJVK5OTkAADCw8N7nPXWrE5NnjwZM2fOhLu7O+rr63H16lVcvXoV9+7dQ1NTk07eH8ZMRUUFSkpKEBISoteQSAaDATs7O4wbNw5Tp07Fs88+CxcXF4jFYly+fBlZWVm4f/8+mpubDfaeaUSGvb29UW6X6i3379/H4sWLwefzcfDgQSQkJKC4uBh5eXmYMWMGvv/+e4wZMwYCgQAsFgv+/v5P/GdlZYXIyEg0NDTg999/p9vJyspCQ0MDLQg64+3tDVdXV5w7d45+TKFQID09nT4nPDwc5ubmWsdUVVWhsLCQPqY3bUdGRqKwsBBVVVX0MWlpabC0tER4eDgAYPr06Whvb8e9e/foY27fvg0AGDt2bP8uNoEAUgw+7IiIiEB4eDj27NlDPxYQEAAej0eKwfUMRVGorKyEQCCAQCDA5cuXERwcDB6PBx6Ph/Hjx+t05UljwSoSiVBTU4ORI0fSM7AODg5gMBgoLy/HnTt3TD7teyiQy+XIycmBtbU1Jk2a1K/9/O3t7bQbUk1NDSwsLOh7xmQyh9XKZFlZGe7du4fQ0NAue9gNCWNwsJLL5cjOzgaTyURgYKBB9GkwePjwIRYuXIhFixZh9+7dPYqpqqoq2Nra9sm8Izo6GpWVldi7dy+AxxazY8eO1bK39ff3x9atW7F06VIAj+1tt27div3798PX1xdbtmzBpUuXutjbnjhxAomJiXBycsK6desglUq72Ns+qW2NvS2Hw8H27dtRW1uL5cuXg8/n0/a2arUaU6ZMgZ2dHb788kuo1Wr89a9/hb29PdLS0vpymQkELYjQGGZo7G3/9a9/ITIyEvv27cO///1vFBUVkVkLA4KiKEgkEhw9ehQCgQAXLlyAv78/YmNjwefzMXHiRJ0OBtRqtVbuA4PBgJWVFZ2RYcgDOWOgra0NQqFQp0X0GqGoqcXpTVaHqXD//n08ePAAYWFhRmUHbIgOVjKZDEKh0ORFRnl5ORYuXIgFCxbg22+/1fm1rq2txZo1a3Ds2DEAQGxsLHbt2qXlJMdgMLB//34sX74cwOPv+U2bNmHv3r2oq6tDREQEdu/ejaCgIPocmUyG9evX49ChQ2hra8PcuXOxZ88eLevm3rRdVlaGVatW4cKFC7C2tsZrr72GHTt2wNLSkj6msrISq1evRlpaGmxtbREdHY2dO3cS1ynCgCBCYxiyZ88ebNu2DVVVVQgKCsIXX3yBmTNn6rtbhB6gKAp1dXU4duwYBAIBzp07B09PT8TGxmLp0qU6T+pVqVS4ceMGamtr6RkzzWDI2dnZpAewg0FzczNycnLg4uKCCRMmDMpArnNWh8YNSXPPTMUNiaIoOnMkPDycnvU1Rnq6Z0PpYKURGRoBbKoio7KyElFRUZg9ezb27dtnMp8HAsEYIEKDQDAyGhsbceLECQgEApw5cwZsNpte6ZgyZcqAhIBKpUJhYSFaWloQFhYGS0tL1NfX04Oh9vZ2sFgs2lmH/GA/mcbGRuTk5MDd3R0+Pj5DMpDrLquDxWLRg9iRI43TA4SiKNy5cwdVVVUIDw83qbRuiqJoByuxWAyZTDboDlYymQzZ2dlwdHQ0aZFRVVWFhQsXYtq0afjhhx/IdxaBMMQQoUEgGDEtLS04c+YMkpOTcerUKYwaNQoxMTHg8XiIjIzs06BSqVQiPz+/x7TvjoMhkUgEuVxOiw5jHsAOFnV1dcjLy8O4ceP0ti2RoiitJPmWlhajzOqgKAq3bt2CRCJBWFiYSTtvdZdyrWsHq+EiMqqrqxEdHY0pU6YgMTGRfEcRCHqACA0CwUSQyWQ4d+4cBAIBjh07BnNzcyxZsgR8Ph8zZsyAubl5j+f2Ne274wBWJBKhra0NTk5O4HA4YLPZT2xrOKAJj9NlQrUu6DiAHaok+YFCURSKi4tRW1uL8PBwnYVPGgsdrY7r6+thZ2enZXXcV5GgERlOTk46r/UyJEQiERYtWoSQkBAcPHiQiAwCQU8QoUEgmCBKpRIXL15EcnIyUlNToVQqaUvHOXPmaBUAFhYWYtOmTfjggw/6Xe+hyRAQiURobm6Go6MjLTo6tjUcqKqqws2bNwc9PG6gaAawEokEdXV1BpnVoVarUVRUhMbGRoSHhxusGBoqBupgpTElMHWRIZFIsHjxYgQEBOA///nPsJ/4IBD0CREaBIKJ097ejsuXLyMpKQmpqaloamrCwoULwePxMGrUKMTFxdEuJbrYv9zW1kaLjsbGRjCZTDog0NQHiho74ODgYLBYLH13p9coFAp6pUMqlcLGxgYuLi7gcDi9DnXUNWq1GgUFBWhtbaXrhQj/R18drDQiQ5NqbqoiQyqVYvHixfD19cXhw4eJyCAQ9AwRGgTCMEKtVuPatWtITk7GoUOHIJVKMXPmTMTFxWHhwoU6d/GRyWR0Knl9fT3s7e3pGVgbGxudtqVvNJarXC5Xy1bS2DCErA6N85lcLkdYWJjR1JLoi44OVhKJBCqVSsvBSqFQIDs7mw6gM1WRUVtbi5iYGHh6euLIkSPkfUMgGABEaBAIw5D//ve/eOONN7B+/XrI5XKkpKTg4cOHmDt3Lng8HhYvXqzzQaVCoaD3mtfW1mrtNTdmByGKonD37l1UVlYiLCzMqC1XO6NSqVBbW6uVrzLYWR0qlQp5eXlQqVTgcrlkRrqPdOdgBQAODg4ICgoy2ZWhuro6xMTEwM3NDcnJySb7dxIIxgYRGgTCMGP37t1477338Msvv2DRokUAHg9OCgsLkZSUhJSUFJSUlGD27Nng8/lYsmQJnJ2ddSo6lEql1lYda2trvW/V6Q+aQmWpVGrybkhqtVrL6lgza67LrI729nbk5uYCALhcLingHSBtbW34/fffYW1tDYqitBys2Gy2yRTWNzQ0IDY2FiwWCykpKSa/RZNAMCaI0CAQhhEfffQRdu/ejRMnTiAyMrLbYyiKwu3bt5GcnAyBQID8/HxMnz4dPB4PsbGxcHV11akQ6GmrDofD6VWBq75Qq9UoLCxEU1PTsCtU7pzV0dHqmMVi9WsVQqlUIjc3FyNGjEBoaCjJOxggra2tEAqFcHFxgZ+fHxgMRhcDgIE6WBkCjY2N4PF4YDKZSE1NNRnxRCCYCkRoEEyG+Ph4bNq0SesxDoeD6upqAI8HR5s2bcK+fftQV1eHiIgI7N69G4GBgfrorl74+uuvMW/ePAQEBPTqeIqi8ODBA1p0/P7774iIiEBsbCx4PB48PDx0OjhRqVSQSqX0YGjEiBFaW3UMZSBEagj+j+6yOpycnOj71ptro1AokJOTA0tLSwQHBxORMUBaW1uRnZ0NDodDi4zO9ORgxWazh6wWZ6A0NTVh6dKlsLa2xokTJ4adyFi0aBEuXbqEsrKyLuYTZWVlmDp1Kjw8PHDx4kWTq4kjGA9EaBBMhvj4eCQlJeH8+fP0YxonFgBISEjAZ599hsTERPj5+WHz5s3IyMjArVu3TGpf/WBBURQePXoEgUAAgUCAK1euICQkBHw+HzweD+PGjdPp4EStVtP1AWKxGAwGA2w2GxwOZ9DqA3qDUqlEXl4eACA0NJTUEHSitbWVvme9yeqQy+UQCoWws7NDUFCQ3u6rqdAbkdGZ7gT+kxysDIHm5mY8//zzGDlyJE6ePGnS2xZ74urVq5g2bRo++ugjrUm2hoYGTJ8+HTKZDFevXqV/AwkEfUCEBsFkiI+Px9GjR+lBYEcoioKbmxvWrl2LjRs3Ang8wOFwOEhISMDKlSuHurtGDUVREIlEOHr0KAQCAS5dugR/f3/weDzweDyde/T3VB/A4XDg5OQ0ZDPgmpn33gYbDnc0rmNisbjbrA6ZTAahUAgmk4mAgACDHNAaEy0tLRAKhXB1dYWvr2+/PoNPc7AyhPd8S0sLXnjhBTAYDJw8edKozSQGyrx585CXl4eysjLY2NhAoVBg4cKFuHHjBq5evQpfX199d5EwzCFCg2AyxMfHY/v27WAymbC0tERERAS2bNmCcePGobS0FD4+PsjJyQGXy6XP4fF4cHBwwI8//qjHnhs3FEWhtrYWqampEAgEOH/+PLy9vREbGws+n49JkybpdADZsT5AJBJBqVSCxWKBw+EM6kBIJpMhJyeHzLz3E81WHZFIhNraWlhZWUGhUMDR0bHfQZGE/0MXIqMz3TlYOTs707U4+tgy2NraipdeeglKpRKnTp2Cvb39kPfBkEhPT8fs2bPx9ddf4+2330ZcXBySk5Px66+/Ytq0afruHoFAhAbBdDh9+jRaW1vh5+cHkUiEzZs3o6SkBEVFRbh16xamT5+OR48ewc3NjT5nxYoVePjwIc6ePavHnpsWDQ0NOHHiBAQCAc6cOQNXV1dadISHh+tcdDQ1NdGiQyaTDbgouTtaWlqQk5MDZ2dnk05UHioaGxshFAphbm4OhUIBc3Nz2gDAWOoDDImWlhZkZ2fDzc0N48ePH7Tr19zcTK9Q6cPBqq2tDcuWLUNLSwvOnDkDJpM56G0aAzNnzkR5eTlefvll7NixA0eOHMHzzz+v724RCACI0CCYMC0tLfDx8cGGDRswdepUTJ8+HZWVlRg9ejR9zJtvvony8nKcOXNGjz01XZqbm3H69GkIBAKcOnUKTCaTLiSfOnWqTlcfKIpCS0sLRCIRXZSsmX1ls9n9nn1tampCTk7OoA/ihgvNzc0QCoX09exYi6PJ6jCEWhxjYahERmeG2sFKJpPh1VdfRV1dHdLS0ow6FFPXpKWlISoqCgDwxRdfYO3atXruEYHwf5BvcILJYmtri0mTJuHOnTtwdXUFANqBSoNYLAaHw9FH94YFdnZ2eOmll/Dzzz+juroa33zzDZqamrBs2TL4+fnhb3/7Gy5evAilUjngthgMBuzs7ODj44PIyEhERkbCwcEBFRUVyMjIgFAoRHl5OeRyea9fs76+HtnZ2fD09NTZdpThTGNjI7Kzs+Hu7k4PijWFx4GBgZg5cya91a6oqAjp6ekoLCyk63II2jQ3NyM7OxtjxowZchFsZWUFT09PhIeHY+bMmfD09ERjYyOysrKQmZmJO3fuoL6+HrqYy5TL5fjjH/8IqVSKs2fP9klk1NXVIS4uDkwmE0wmE3Fxcaivr3/iORRFIT4+Hm5ubrC2tsbs2bNRVFTUpU+rV68Gi8WCra0tYmNjUVFR0ee2y8rKEBMTA1tbW7BYLKxZswYKhULrmLNnz2Lq1KkYNWoU2Gw2XnjhBdy/f59+fsGCBbCxscG8efOIyCAYHERoEEwWuVyO4uJijB49Gt7e3nB1dcW5c+fo5xUKBdLT08k+1iHC2toaPB4PP/74I6qrq5GYmAgAeOONN+Dj44O33noLZ8+e7ZMQeBK2trbw9vZGREQEpk+fDhaLherqavz222+4fv06Hj58iLa2th7Pl0qlyMnJwfjx4+Ht7a2TPg1nGhoaIBQK4eXlBR8fn24HxWZmZnBycoK/vz9mzJiBsLAwWFpa4vbt27h06RLy8/NRVVWlE2Fq7GhWhsaMGdPj9RwqLCws4ObmhtDQUMyePRu+vr6Qy+XIzc3Fb7/9RodaqtXqPr+2QqHAn/70J1RXVyMtLQ2Ojo59Ov+1115DXl4ezpw5gzNnziAvLw9xcXFPPGfbtm34/PPPsWvXLly/fh2urq6YP38+mpqa6GPWrl2LlJQUHD58GJcvX0ZzczOWLFmiJYif1rZKpcLixYvR0tKCy5cv4/Dhw0hOTsa7775LH1NaWgoej4fnnnsOeXl5OHv2LGpqarS2RpWWlqK1tbXHbCQCQZ+QrVMEk2HdunWIiYmBp6cnxGIxNm/ejPT0dBQUFGDs2LFISEjA1q1bsX//fvj6+mLLli24dOkSsbfVM+3t7fjtt9+QlJSEo0ePoqWlBYsWLQKPx8O8efN0vvdbLpfTxa3dOSEBgEgkQlFRESZOnKi11Y7QP+rq6pCXlwcfHx94enr2+fzutsX1NavDlDAkkfEkNA5WmroOlUqlVUP1tK2TCoUCr7/+Oh48eIBff/21S1bE0yguLkZAQACuXbuGiIgIAMC1a9cQGRmJkpISTJgwocs5vXEobGhoAJvNxoEDB7Bs2TIAQGVlJTw8PHDq1ClERUX1qu3Tp09jyZIlKC8vp2sHDx8+jOXLl0MsFsPe3h5JSUl49dVXIZfL6W2Ex48fB4/Hg1wuh7m5OZKSkvDSSy8hJSUFfD6/T9eIQBhsRuq7AwSCrqioqMCrr76KmpoasNlsTJ06FdeuXcPYsWMBABs2bEBbWxtWrVpFB/alpaURkaFnRo4ciTlz5mDOnDn4+uuvcfXqVSQnJ+O9995DTU0NFixYAD6fj6ioKJ3YWFpaWsLDwwMeHh5QKBT0IOjevXuwtbWFtbU1pFIpJk2aBBcXFx38hcMbqVSK/Px8+Pn5wd3dvV+vodkWp9kap8nqqKysRElJCZhMJjgczpAVJesTzXYpDw8P+Pj46Ls7T8TMzAzOzs5wdnbGhAkTaAeru3fvorCwEM7OzrR1bmexqFQq8ec//xmlpaW4cOFCn0UG8Dhngslk0gN9AJg6dSqYTCYyMzO7FRr3799HdXU1FixYQD9maWmJWbNmITMzEytXroRQKIRSqdQ6xs3NDUFBQcjMzERUVFSv2r569SqCgoK0DEqioqLobJk5c+Zg8uTJGDFiBPbv34/ly5ejubkZBw4cwIIFC2izi5ycHABAeHh4n68RgTDYEKFBMBkOHz78xOcZDAbi4+MRHx8/NB0i9JkRI0bg2WefxbPPPoudO3ciOzsbycnJ+PTTT7Fy5UrMnTsXPB4PixYt0ok7kYWFBcaMGYMxY8ZAqVSipKQEIpEIAHDnzh00NDSAw+Fg1KhRBjtrbMhIJBIUFBTofGXIxsYGXl5e8PLy0srquH37Nuzs7MDhcLRWqEyFpqYmCIVCoxAZnWEwGHStgq+vL1paWiAWi1FRUYHi4mJ89913CAoKwrJly+Dt7Y0333wTxcXFuHjxYr8D56qrq7udLHBxcelSr9fxHABdavc4HA4ePnxIH2NhYdFlGxeHw6HP703b1dXVXdpxdHSEhYUFfYyXlxfS0tLw0ksvYeXKlVCpVIiMjMSpU6foc4RCIVgsFjw8PHq+GASCniA1GgQCwSAxMzPDM888g4SEBJSUlODatWvgcrn48ssv4e3tjRdeeAE//vgjpFLpgAtOKYpCWVkZpFIppkyZgjlz5mD8+PFoa2tDdnY2Ll++jFu3bumsuHU4IBKJcOPGDQQGBg7q9jMrKyt4eHhoFSU3NDTg2rVryMzMxN27d9HY2Gj0900jMjw9PY1OZHRH5xqqkJAQpKWlITw8HEFBQbh48SL27NnT7WA9Pj4eDAbjif+ys7MBoNsJAoqinjpx0Pn53pzT+ZjetP20Y6qrq/H//t//w+uvv47r168jPT0dFhYWePHFF+n3dG5uLsLCwp7YNwJBX5AVDQKBYPCYmZkhODgYwcHB2LRpE27duoXk5GR89913WLNmDWbMmAEej4eYmBhwOJw+rT5QFIVbt25BLBZj8uTJ9PYsDocDDocDlUpF26/m5uZixIgRdG2Ag4MDsV/thqqqKhQXFyM4OLjfs9H9QVOU7Obmhvb2dkilUohEImRnZ9NZHZr7ZkwrVB1Fxrhx4/TdHZ1jbW2Nf/zjH9iwYQNWrlyJvLw8BAYGYtGiRXB3dwefz8fSpUsREREBMzMzvP3223jllVee+JpeXl64ceMGvULZEYlE0qPbYEeHwo4CuaNDoaurKxQKBerq6rRWNcRiMW0u4urq+tS2XV1dkZWVpfV8XV0dlEolfczu3bthb2+Pbdu20cccPHgQHh4eyMrKwtSpUyEWi594LQgEfUJ+IQkEglHBYDDg7++PDz74ANnZ2SgpKcHChQtx+PBh+Pn5ISoqCrt27UJ5eflTZ7HVajWKiopQU1ODKVOmdFsD0tF+ddasWQgMDIRarUZBQQEyMjJw8+ZN1NTU9MtRxxR59OgRiouLERISMqQiozMjR44Eh8NBcHAwZs+eDX9/f7S3tyM/P9+o7ptGZIwdO9YkRYYGlUqF1atX4/r16zh79ixOnz6NmpoaJCQkQCQSYfHixXB3d8e3334LFosFf3//J/6zsrJCZGQkGhoa8Pvvv9PtZGVloaGhoUe3wd44FIaHh8Pc3FzrmKqqKhQWFtLH9KbtyMhIFBYWoqqqij4mLS0NlpaWdL1Fa2trl6J5zf8N/b1LIADEdYpAIJgIFEWhvLwcAoEAKSkpuHLlCsLCwsDj8cDj8eDt7a01i93S0oLNmzdj8eLFmDJlCiwtLfvcXn19Pe2EpFKpwGaz4eLiAmdnZ52GERoL5eXluHPnDkJDQ+Hk5KTv7nSLWq1GfX097TxmyPetsbEROTk5GDt2rElbLKvVaqxZswbp6em4ePFit85kSqUSGRkZsLKywvTp03v92tHR0aisrMTevXsBACtWrMDYsWNx/Phx+hh/f39s3boVS5cuBYBeORS+9dZbOHHiBBITE+Hk5IR169ZBKpVCKBTS76Gnta1SqRAaGgoOh4Pt27ejtrYWy5cvB5/PxzfffAMAuHDhAubNm4f4+Hi8+uqraGpqwvvvv4+SkhIUFxebvPkBwfghQoNAIJgcFEWhuroaR48eRXJyMtLT0xEYGEiLDhcXF/B4PMhkMpw5cwbOzs4Dbq+xsZEWHQqFQsvGc+RI09+l+uDBA9y/fx9cLtdoUps1900jOmQymdZ907j66IPGxkY6d8TURcbf//53nDt3DhcvXoSXl5dOX7+2thZr1qzBsWPHAACxsbHYtWuX1nuUwWDQrk7A4/fFpk2bsHfvXtqhcPfu3QgKCqLPkclkWL9+PQ4dOoS2tjbMnTsXe/bs0SrI7k3bZWVlWLVqFS5cuABra2u89tpr2LFjh9bEx+HDh7Ft2zbcvn0bNjY2iIyMREJCAvz9/XV6rQiEwYAIDQKBYNJQFAWpVIrU1FQIBAKcP38ejo6OYLFY+Oqrr+h937psr7m5mRYdbW1tcHZ2houLC9hstl4Hr4MBRVEoLS1FeXk5wsLCYG9vr+8u9QtNVodGdDQ3N9NZHWw2u88rXgNBIzK8vb11PvA2JNRqNdavX49Tp07h4sWLJr01jEAYrhChQSAQhg2VlZWYN28ebGxs4O7ujrS0NLi5uSE2NhZLly4Fl8vVeXF3c3Nzt4NXUwiaoygKd3CMZYcAACAASURBVO/eRWVlJcLDw3WSc2IoaLI6xGIxGhsbwWQy6fs2mNtVGhoakJOTMyxExnvvvYfU1FRcuHABvr6++u4SgUAYBIjQIBAIw4L79+9j3rx5mDFjBr777juMHDkSzc3NOHXqFJKTk3H69Gk4OTkhJiYGPB4PEREROt+v33nw6uDgQA9eraysdNrWYENRFG7fvg2RSITw8HCTy6zoSOc0eTs7O/q+6VJcaUTGuHHj6KBRU0StVuODDz5AUlISLl68CD8/P313iUAgDBJEaBAIBJOnqKgI8+fPx8svv4zPP/+821WL1tZWpKWlITk5GSdPnoSVlRViYmLA5/Mxffp0nddZyGQyiMViiEQiNDQ0wN7eHi4uLuBwOAZf4ElRFIqLiyGVShEeHg4bGxt9d2nIUCqVdECgVCqFtbU1LToGEuw4nETGxx9/jEOHDuHixYukzoBAMHGI0CAQjIiMjAxs374dQqEQVVVVSElJAZ/Pp5/XFDHu27dPq4gxMDCQPkYul2PdunX4+eeftYoY3d3d9fEnDQmagK+PPvqoVwNBhUKB8+fPQyAQIDU1FQCwZMkS8Pl8zJo1S+dbnuRyOSQSCUQiET1jbqjp1mq1Gjdv3kRDQwPCw8ONbiVGl2iyOsRiMSQSSb+zOjQiw8fHp1vHJVOBoih8+umn2L9/Py5evIiAgAB9d4lAIAwyRGgQCEbE6dOnadvWF154oYvQSEhIwGeffYbExET4+flh8+bNyMjI6GLLePz4cSQmJsLZ2RnvvvsuamtrtWwZTY3epPr2RHt7O9LT05GUlITU1FS0tbVh0aJF4PF4mDt3rs5XHzQz5iKRCFKpFDY2NrTosLOz02vQnFqtRmFhIZqbmxEeHj6kBdKGjlqtpoMdNQFqGtHh5OTUY+1PfX09cnNzh4XI2LJlC/7973/j119/xaRJk/TdJQKBMAQQoUEgGCkMBkNLaFAUBTc3N6xduxYbN24E8HimnMPhICEhAStXrkRDQwPYbDYOHDiAZcuWAXhcIO3h4YFTp04hKipKb3+PMaBSqZCZmYmkpCQcPXoUdXV1iIqKAo/HQ1RUlM5XH9rb21FTUwORSISamhpYWlrSosPe3n5IRYdarcaNGzcgk8kQFhZm9IXsg0l3WR0dbXM1gl4jMsaPH69li2pqUBSFbdu2Yffu3fj1118REhKi7y4RCIQhgggNAsFI6Sw0SktL4ePjg5ycHHC5XPo4Ho8HBwcH/Pjjj7hw4QLmzp2L2tpaODo60seEhISAz+dj06ZNQ/53GCtqtRrXr19HcnIyUlJS8OjRI8yfPx88Hg/R0dE6FwIqlQpSqZQWHSNHjuzXNp3+tp2fnw+lUomwsDCTs+gdTHrK6rC1tcXDhw/h5+dn8iJj586d+Oqrr3Du3DmEhYXpu0sEAmEIMf0UKQJhmFBdXQ0A4HA4Wo9zOBw8fPiQPsbCwkJLZGiO0ZxP6B1mZmaIiIhAREQE/vnPfyI/Px/JycnYuXMn3nrrLcydOxexsbFYsmQJHB0dBywERowYQQsLtVpN1wbk5+eDwWDQzzk6OurUore9vR15eXmgKArh4eHDInxQlzAYDDCZTDCZTIwfPx4tLS14+PAh7t+/DwCQSCRgMBhDntUxFFAUha+++gpffvkl0tLSiMggEIYh5BeDQDAxOg9oe1OfMJAaBsJj0cHlcsHlcvHpp5+iuLgYSUlJ2Lt3L9asWYMZM2aAx+MhJiYGLi4uA77WZmZmYLPZYLPZUKvVqKurg1gsRmFhISiKApvNhouLC5ydnQckOpRKJXJzczFixAhwuVyTreEZKhgMBpRKJUQiESZOnAhnZ2eIxWJUVVWhpKRkyLI6hgKKorBr1y5s374dZ8+exeTJk/XdJQKBoAd0m0xFIBD0hqurKwB0WZkQi8X0KoerqysUCgXq6up6PIYwMBgMBgICAvDRRx8hJycHN2/exPz58/Gf//wHvr6+iI6Oxp49e/Do0SPoYueqmZkZnJ2dMXHiRMycORMhISEYOXIkSkpKkJ6ejoKCArpOoC8oFAoIhUKYm5sjNDSUiAwdUFdXh9zcXPj5+cHd3R3W1tYYO3YspkyZghkzZsDV1RVSqRRXrlzBtWvXUFpaiubmZp28T4YSiqLwr3/9C1u3bsWpU6fwzDPP6LtLBAJBT5AaDQLBSOmpGPydd97Bhg0bADweLLq4uHQpBj948CBefvllAEBVVRXc3d1JMfggQ1EUysrKIBAIkJKSgszMTEyePBk8Hg88Hg9jx47V6apSx9oAkUgEuVwOFosFDocDFov1xC1QcrkcOTk5sLGxwaRJk3Selj4cqa2tRV5eHiZMmIAxY8Y88djOWR1WVlb0SsdQmwD0FYqi8O9//xsff/wxTp48iWeffVbfXSIQCHqECA0CwYhobm7G3bt3AQBcLheff/455syZAycnJ3h6eiIhIQFbt27F/v374evriy1btuDSpUtd7G1PnDiBxMREODk5Yd26dZBKpSZtb2toUBRF56AIBAJkZGQgKCgIfD4fPB4Pvr6+Ohcdzc3NtOhoa2uDk5MTOBwO2Gy2VnG3TCaDUCiEvb09AgMDicjQAX0RGZ1RqVSoqamBWCzWMgFgs9k6qf3RJRRFYf/+/Xj//fdx4sQJzJw5U99dIhAIeoYIDQLBiLh06RLmzJnT5fHXX38diYmJdGDf3r17tQL7goKC6GNlMhnWr1+PQ4cOaQX2mbLzjSFDURRqamqQmpqK5ORkXLhwAb6+voiNjcXSpUsxceJEnQ/2W1paaNHR3NwMR0dHcDgcjBo1CgUFBXB0dERAQIBBDWKNFY3I8Pf3h5ub24Beq79ZHUMBRVH46aefsGHDBhw/fhyzZ8/WW18IBILhQIQGgUAgGAgURaG+vh7Hjx9HcnIyzp07B3d3d3p7VWhoqM4Hk21tbRCJRKiurkZTUxMsLS0xduxYcDicYZ36rQukUiny8/N1IjI6o3mvaERHe3t7t1kdQwFFUTh48CDWrVuHo0ePYu7cuUPWNoFAMGyI0CAQCAQDpampCSdPnoRAIMDp06fBYrEQExMDPp+PKVOm6Gww2dzcDKFQCDabDTs7O4jFYtTX18Pe3p6eMbexsdFJW8OFwRQZnekuq8PZ2ZneYjWYuScUReHnn3/G2rVrIRAIsGDBgkFri0AgGB9k8y2BQCAYKKNGjcIrr7yC//73vxCJRNi5cydqa2vxwgsvwN/fH3//+9+RkZGB9vb2frfR1NSE7OxsuLu7Y+LEifD09MTkyZMxc+ZMuLm5oba2FpmZmVouSIQnoxEZEydOHHSRAfxfVoevry+mT5+OiIgI2Nvbo6ysDOnp6RAKhSgvL4dcLtdpuxRF4ciRI1i7di2OHDnSZ5FRV1eHuLg4OmckLi4O9fX1T20zPj4ebm5usLa2xuzZs1FUVKR1jFwux+rVq+lgxNjYWFRUVPS57b/97W8IDw+HpaUlQkNDu+1PQUEBZs2aBWtra4wZMwaffPKJ0bmEEQiDCVnRIBAIBCNDJpPh119/RXJyMo4dOwYzMzMsWbIEfD4fM2fOhIWFRa9ep6GhATk5OfDy8oK3t3ePx3V2QbK2toaLiws4HA7s7OxILUcHampqcOPGDUycOBGjR4/Wd3fQ1tZGr3Q0NDToNKsjOTkZf/nLX/DLL79gyZIlfT4/OjoaFRUV2LdvHwBgxYoV8PLywvHjx3s8JyEhAZ999hkSExPh5+eHzZs3IyMjo4vhxfHjx5GYmAhnZ2e8++67qK2t1TK86E3ba9aswYQJE5CVlYUbN24gLy9Pqy+NjY3w8/PDnDlz8MEHH+D27dtYvnw5Pv74Y7z77rt9vh4EgilChAaBQCAYMUqlEunp6UhKSkJqairkcjkWL14MHo+H5557rsc6i0ePHuH27dvw8fGBp6dnr9trb2/XckGysLCgRYehW68ONjU1NcjPz0dAQIBBiIzOyOVyWjDW1tbCzs6OFh22trZ9undHjx7Fm2++iUOHDoHH4/W5L8XFxQgICMC1a9cQEREBALh27RoiIyNRUlKCCRMmdDlHY+G9du1abNy4kf6bOBxOFwvvAwcOYNmyZQCAyspKeHh40BbefW07Pj4eR48e7SI0vv32W/zjH/+ASCSiU93/+c9/4ptvvkFFRcWw/iwQCBrI1ikCgUAwYszNzfH/27v3uJrvxw/gr+5ETqU6p8a3+k4JXVyGMpNLo+hycv+2RZp2IZev4fsdW9p8x8ywzWVs3y3XZptKhMilsMolkkwMYVan0uWopKLP7w8/n++OQuVD4fV8PM4fPp/3+7zfn1O28/K+eXh4YPXq1bh27RpiYmJgYmKCGTNmwNbWFhMmTMDWrVtRXl4u1tm+fTt69eoFExOTBoUMANDV1YVCoYCzszPc3d1hb2+PqqoqnDhxAocOHUJWVhaKiopeuOkjBQUFyMjIQJcuXZplyAAAAwMDtGvXDt27d4e7uzusra1RWlqKI0eOIDk5Gb///jvUavUjf3bbt29HSEgINmzY0KiQAQApKSmQyWTiF30AcHV1hUwmQ3Jycp11srOzoVKpNKZoGRgYwN3dXayTlpaG6upqjTJWVlZwdHQUyzSm7Qc9g7u7uxgyAGDIkCHIycnB5cuX6/0+RM+zB5/YREREzxQdHR24u7vD3d0dX375JY4cOYKoqCiEhYUhJCQEr7/+Ouzs7LBixQp88sknD5x33pD27v2L+F+3Xs3IyICWlhbMzc0hl8thYmLyXJ/H8deQoVAomro79aKnpwdLS0tYWlpqnNVx4sQJ6OrqwtzcHGZmZpDJZBqLyePi4hAcHIy1a9di+PDhjW5fpVLBwsKi1nULCwuoVKoH1gEAuVyucV0ul+PKlStiGX19fZiYmNQqc69+Y9p+UH9sbGxqtXPv3sOmIxK9KJ7f//ITEb3AtLW14ebmhi+++ALnz5/HoUOHoKOjg6VLl8LW1haJiYnYsGGDZKMP2traMDMzQ+fOndGvXz/xRPHMzEwkJSUhMzMTBQUFuHPnjgRP13zcCxmOjo7PTMi4n46ODuRyOZycnODu7o5OnTqhpqYGmzdvhrW1NQICAvDzzz9j+/btmDBhAr7//nuMGjWqzvcKDw+HlpbWQ1/Hjx8HgDqnFgmC8MgpR/ffr0+d+8s0tu369OVB70/0IuKIBhHRc05bWxvnz59HfHw8oqKiYGdnhy1btmDVqlWYMmUK3N3d4efnB29vb5ibmz/2lyRtbW2YmprC1NQUHTt2hFqtRl5eHrKyslBdXQ0zMzPI5fKnft6D1P4aMu7/V/Zn1b3AaGZmBnt7e3To0AFRUVGYPXs2iouLxW2Vy8rK0Lp161r1Q0NDMXbs2Ie2YWNjg4yMDOTl5dW6V1BQ8MDP8l6QU6lUGtPT8vPzxToKhQJVVVUoLi7WGNXIz89Hnz59xDINbftB/bl/BOTeQYrPy+8D0ePiiAYR0XMuIiICEydORHR0NJRKJbp06YJ58+YhPT0dmZmZGDhwINavXw87Ozt4eXlh9erVyMnJkWSkQ0tLC8bGxujYsSP69u2LV155BYaGhrhw4QISExNx6tQp5Obmorq6WoInfXruTRF7nkLG/XR1deHp6YmAgACUl5fjww8/RP/+/fHRRx/B3NwcSqUS69evR1FRkVjHzMwMDg4OD321aNECbm5uUKvVOHr0qFj3yJEjUKvVYiC4n62tLRQKBRISEsRrVVVVSEpKEuv06NEDenp6GmVyc3ORmZkplmlM23Vxc3PDwYMHUVVVJV7bs2cPrKysak2pInpRcdcpIqLn2MaNGzFp0iRs27YN/fv3f2A5QRBw5coVREVFISYmBqmpqejZsyd8fX2hVCrxt7/9TdLpIIIgoLy8HHl5ecjPz0d5ebnGIXP13aK3KeTn5+P06dNwcnKqc67/8+TgwYMYNWoUvvrqK0yYMEH8HTh79iyio6MRExODU6dOIT4+vsEngnt5eSEnJwdr1qwBcHeLWWtra40tZh0cHLBw4UL4+/sDuLu97cKFCxEREQE7OzssWLAAiYmJtba3jYuLw9q1a2FqaoqZM2eisLCw1va2j2r7woULKCsrw+rVq3HgwAH89NNPAIDOnTtDX18farUaHTt2xMCBAzFnzhz8/vvvCAoKQlhYGLe3Jfp/DBpE1OwdPHgQixcvRlpaGnJzcxETEwOlUineDwoKwrp16zTq9O7dG6mpqeKfKysrMXPmTPz444+oqKjAoEGDsGrVKrRr1+6pPUdTuHLlCnJzc+Hq6lrvOoIgICcnB9HR0YiOjsbhw4fh7OwMPz8/+Pn5oUOHDpLPQS8vLxfPeygtLYWJiYm40Pyvu/o0tby8PGRmZr4QIePQoUMYOXIkli5diokTJz7wZ3758mWYm5ujVatWDXr/oqIiTJ06Fdu2bQMA+Pr6YsWKFTA2NhbLaGlpISIiAkFBQQDu/m5+/PHHWLNmDYqLi9G7d2+sXLkSjo6OYp1bt25h1qxZiIyM1Pi73r59+wa13b9/fyQlJdXqd3Z2tjhicfr0aUyePBlHjx6FiYkJ3n33XYSFhXGNBtH/Y9AgomZv165d+PXXX9G9e3eMGDGizqCRl5eHiIgI8Zq+vj5MTU3FP9fnEC+qTRAE5OfnIzY2FlFRUThw4AAcHBzEkY5OnTpJ/qXqSR4y9zhepJDx66+/YsSIEVi0aBHeffddfnEmokZh0CCiZ4qWlladQaOkpARbt26ts059DvGiRxMEAcXFxdi2bRuio6ORkJCAv/3tb/D19YW/vz+cnZ0l38a2srJSDB3FxcUwMjISDwg0NDSUtK2HuRcynJ2dYW5u/tTabQqpqanw9/fHp59+ismTJzNkEFGjcTE4ET0XEhMTYWFhAXt7e4SEhIi7vwD1O8SLHk1LSwumpqYICgrCtm3bkJeXh3nz5iE7OxuDBw+Gk5MTPvjgAxw5cgQ1NTWStGlgYID27dujR48e6NevH9q1a4eSkhIkJycjJSUFFy9eRFlZ2RM9IFClUr0wIePYsWMYPnw4PvnkE4YMInps3N6WiJ55Xl5eGDVqFKytrZGdnY2PPvoIAwcORFpaGgwMDOp1iBc1XJs2bRAQECDuSrRr1y5ER0fD398fRkZG8PHxgZ+fH9zc3KCr+/j/u9HX18dLL72El156CdXV1eIhc5cvX0aLFi3EkQ4jIyPJviCrVCqcOXPmhQgZaWlpUCqV+OijjzB16lSGDCJ6bAwaRPTMuzcdCgAcHR3xyiuvwNraGjt27Hjo6cWNOaCL6taqVSuMHDkSI0eOxK1bt5CQkIDo6GgEBARAT08P3t7eUCqVeO211zROmm6suk62zsvLw/Hjx6GnpyeGDplM1uifcW5uLs6ePQsXFxeYmZk9dp+bs/T0dPj6+uKDDz7AjBkz+PeCiCTBoEFEzx1LS0tYW1vj999/B1C/Q7xIOi1atICPjw98fHxQXV2NAwcOICoqChMnTkR1dTWGDRsGpVKJAQMGSLKj1L2TreVyOe7cuYOioiLk5eXh5MmT0NHREReSGxsb13sNyb2Q4ezs/NyHjIyMDPj4+GDWrFmYNWsWQwYRSYZrNIjouVNYWIg//vhDPD24Pod40ZOhp6eHwYMHY82aNbh27RqioqLQpk0bTJs2Dba2tggODkZsbCxu3rwpSXs6OjowNzeHo6Mj3N3d0aVLF9TU1OD06dM4ePAgfvvtN1y/fv2ha0hepJGMzMxMeHt7Y9q0afjggw8YMohIUtx1ioiavbKyMly4cAEA0K1bNyxduhQDBgyAqakpTE1NER4ejhEjRsDS0hKXL1/GnDlzcPXqVZw9e7ZBh3jR01NTU4PU1FTxgMD8/HwMHjwYfn5+8PT0FH9uUrm3Y9a9Hazu3LkDc3NzWFhYoG3btuLvQE5ODrKysuDi4oK2bdtK2ofm5rfffoOXlxcmTZqE8PBwhgwikhyDBhE1e4mJiRgwYECt6+PHj8c333wDpVKJkydPoqSkBJaWlhgwYADmz5+vcUBXfQ7xoqZRU1ODEydOICoqCtHR0bh69So8PDzg6+uLYcOGPdY6i7oIgoAbN26Ip5JXVVXBzMwMenp6yMnJQdeuXZ/7kHH27FkMHToUEydOxH/+8x+GDCJ6Ihg0iIio2RAEAZmZmdiyZQtiYmKQlZWF/v37Q6lUwtvbG23btpU8dNwbMbt+/Tq0tLRgZmYGCwsLmJubS7Jwvbk5f/48vLy8MG7cOCxcuFDys0+IiO5h0CAiomZJEAScP39eHOk4deoUXn31Vfj5+cHX1xcKhUKS0PHnn3/i3Llz6Nq1K/T19cXpVWVlZTA1NRUXk+vr60vwVE3rwoUL8PLywtixY7F48WKGDCJ6ohg0iOixLViwAHPnzsWJEyfQrVs3jXvjxo1DZGQkYmNjMWzYsCbqIT3rBEHA5cuXxdBx9OhR9O7dG76+vvDz80P79u0bFTr+GjJMTU017t28eVMMHTdu3ICxsbEYOlq0aCHVoz01Fy9exNChQzF8+HAsW7aMIYOInjgGDSJ6bDdu3IC1tTU8PDzwyy+/iNfDwsIwf/58rFq1Cu+9914T9pCeJ4Ig4M8//0R0dDSio6Px66+/wsXFBUqlEn5+fvj73/9er9Bx7do1nD9/vs6Qcb9bt24hPz8feXl5UKvVaNOmjXhWR8uWLaV6tCcmOzsbXl5e8PX1xddff82QQURPBYMGEUkiLCwMn376Kc6cOQMHBwdEREQgODgYs2fPxqJFi5q6e/ScEgQBeXl52Lp1K6Kjo5GYmAgHBwcxdDg4ONQZOg4cOABBENCtW7daJ8Y/SmVlJQoKCpCXl4fi4mK0bt0acrkcFhYWaNWqlVSPJpkrV67Ay8sLnp6eWLVqFUMGET01DBpEJImioiJYW1tj+PDhCAwMxNChQ+Hv74/NmzdzRxt6KgRBQFFREWJjYxEdHY29e/fC1tYWvr6+UCqVcHJygra2NpYsWYLPPvsMhw4dgoODw2O1WV1dLYaOwsJCGBoaiqGjdevWTf67f+3aNXh6esLDwwOrV69myCCip4pBg4gkM3v2bCxbtgyGhoZwdnbG3r17JTn5magx1Go14uLiEBUVhd27d0OhUMDJyQl79uzBpk2bMGTIEEnbu337NgoKCpCfn4/r16/DwMBADB1t2rR56qEjJycHnp6e6NevH7777jueF0NETx2DBhFJ5uTJk+jevTusrKxw+vTpR857J3paysrKMH36dKxfvx7W1taorKwUF5K7urpK/iX8zp07uH79uhg6dHV1xYXkxsbGTzx0qFQqeHp6wtXVFREREQwZRNQkOIZKRJK4ceMGJkyYAAC4fv06bt682cQ9IvqfdevW4ZdffkFSUhIyMjKwfPlylJaWYsyYMbC3t8e0adNw4MABVFdXS9Kejo4O5HI5nJyc4O7uDgcHB9y+fRunTp3CwYMHcfbsWRQWFqKmpkaS9v5KpVJh6NCh6NmzJ3744YcGh4zi4mIEBgZCJpNBJpMhMDAQJSUlD60jCALCw8NhZWWFli1bon///jhz5oxGmcrKSkyZMgVmZmZo1aoVfH19ce3atQa3PW3aNPTo0QMGBgbo2rVrrb4kJibCz88PlpaWaNWqFbp27YpNmzY16DMgImkwaBDRY6uursaIESNw6dIlbN26FTU1NVi8eHFTd4sIALB8+XLMnTsXu3fvhpubG1q2bAk/Pz+sW7cOKpUKa9euBQBMmDABL7/8Mt577z3s3r0blZWVkrSvra0Nc3NzdOnSBf369YOjoyMAIDMzEwcPHsSZM2dQUFAgSejIz8+Ht7c3unbtinXr1kFXV7fB7xEQEID09HTEx8cjPj4e6enpCAwMfGidzz//HEuXLsWKFStw7NgxKBQKvP766ygtLRXLTJ8+HTExMdi8eTMOHz6MsrIyeHt7486dOw1qWxAEBAcHY8yYMXX2JTk5Gc7OzoiKikJGRgaCg4Mxbtw4bN++vcGfBRE9Hk6dIqLHNn78eERGRiIuLg5DhgzBhAkT8NNPP+Hy5cuwsLBo6u7RCyw6OhrBwcHYs2cPevXq9dCyt2/fxqFDh7BlyxZs3boV5eXlGDp0KPz8/ODh4SH5NraCIKCkpEQ8q+P27dswMzODXC5H27ZtGzwSUVBQgGHDhqFTp06IjIxs1KnmZ8+eRefOnZGamorevXsDAFJTU+Hm5oasrCx07NixzuewsrLC9OnT8a9//QvA3dELuVyORYsW4Z133oFarYa5uTk2bNggBoScnBy0b98eO3fuxJAhQxrcdnh4OLZu3Yr09PRHPtewYcMgl8vxww8/NPgzIaLG44gGET2WDz/8EOvXr8fq1avFxbVz5sxBVVUVli1b1sS9e7YtXLgQPXv2hJGRESwsLKBUKnHu3DmNMlJNWXleeXp64tChQ48MGQCgq6uLAQMGYOXKlbh69Sri4uIgl8vx73//GzY2NggMDERUVBTKysok6ZuWlhZMTEzQsWNH9O3bF927d0eLFi1w/vx5JCYm4tSpU1CpVLh9+/Yj36uwsBA+Pj6wt7dvdMgAgJSUFMhkMvGLPgC4urpCJpMhOTm5zjrZ2dlQqVQYPHiweM3AwADu7u5inbS0NFRXV2uUsbKygqOjo1imMW3Xl1qt5poxoibAoEFEjfbtt9/i008/xYcffoi33npLvG5nZ4dRo0Zh1apVj5zbTQ+WlJSEyZMnIzU1FQkJCbh9+zYGDx6M8vJysYxUU1aeV4aGhnBycmpwPR0dHfTt2xfLli3DxYsXsW/fPnTo0AHz58+HjY0NxowZg8jISJSUlECKiQFaWlqQyWSws7PDq6++il69eqF169a4dOkSkpKScPLkSeTk5NS5hqSoqAi+vr6wtbXF5s2bGx0ygLvrO+oahbSwsIBKpXpgHQCQy+Ua1+VyuXhPpVJBX1+/1pkl95dpaNv1sWXLFhw7dkxcQ0ZETw+DBhE1ys6dMzmAGAAADkhJREFUOzFp0iS8+eabmD9/fq37c+fORWlpKb7++usm6N3zIT4+HkFBQejSpQtcXFwQERGBq1evIi0tDcDd0Ywvv/wSc+fOxfDhw+Ho6Ih169bh5s2biIyMBHD3X3K///57LFmyBB4eHujWrRs2btyI06dPY+/evU35eM8MbW1t9OrVC4sWLUJWVhZSUlLQtWtXfPnll7C1tcWIESOwbt06FBYWShY6jIyM8PLLL6NPnz5wdXWFsbExrl69ih07dmDgwIH44osv8Mcff6CkpAR+fn6wsrLCzz//DH19/TrfMzw8HFpaWg99HT9+XGz/foIgPHKnrPvv16fO/WUa2/aDJCYmIigoCN999x26dOnSqPcgosZr+CoxIiIAQ4cOfeiUDkdHxyeyo86LTK1WA4A4BeRRU1beeeedR05ZkfosieedtrY2XFxc4OLigk8++QTnzp1DVFQU/vvf/2Lq1Kl47bXX4OfnBx8fH8jlckm2sW3VqhVsbW1ha2uLvLw8pKen4+eff8bHH38MKysrtG7dGl999dVDz6wJDQ3F2LFjH9qOjY0NMjIykJeXV+teQUFBrRGLexQKBYC7IxKWlpbi9fz8fLGOQqFAVVUViouLNUY18vPz0adPH7FMQ9t+mKSkJPj4+GDp0qUYN25cg+sT0ePjiAYR0TNAEATMmDEDffv2FXctkmrKCjWOlpYWHBwcMHfuXBw/fhxZWVnw9PTE5s2bYW9vjyFDhmDlypW4du2aJCMdwN2fW3h4OPbu3Qs3NzeYm5tDLpejU6dOcHV1xeLFi3Hp0qVa9czMzODg4PDQV4sWLeDm5ga1Wo2jR4+KdY8cOQK1Wi0GgvvZ2tpCoVAgISFBvFZVVYWkpCSxTo8ePaCnp6dRJjc3F5mZmWKZxrT9IImJiRg2bBg+++wzvP322w2qS0TSYdAgInoGhIaGIiMjAz/++GOte1JMWaHHo6WlhZdffhmzZ89GcnIyLl26hJEjRyIuLg6dO3fGgAEDsGzZMly6dOmxQ0dpaSmGDx8OAwMDHD58GImJicjJycHEiROxf/9+ODg4oFu3bti2bVuD37tTp07w9PRESEgIUlNTkZqaipCQEHh7e2vs+uTg4ICYmBjx2adPn44FCxYgJiYGmZmZCAoKgqGhIQICAgAAMpkMb731Ft5//33s27cPJ0+exJtvvgknJyd4eHg0qO0LFy4gPT0dKpUKFRUVSE9PR3p6OqqqqgD8L2RMnToVI0aMgEqlgkqlQlFRUaM/cyJqJIGIiJq10NBQoV27dsKlS5c0rl+8eFEAIJw4cULjuq+vrzBu3DhBEARh3759AgChqKhIo4yzs7MQFhb2ZDtOQk1NjZCTkyOsWrVKGDRokKCrqyu4uLgIYWFhQlpamlBWViaUl5fX+5WXlyf07dtXcHd3F0pLS+tss7i4WFi/fr2QkpLSqD4XFhYKb7zxhmBkZCQYGRkJb7zxhlBcXKxRBoAQERGh8Zzz5s0TFAqFYGBgIPTr1084ffq0Rp2KigohNDRUMDU1FVq2bCl4e3sLV69ebXDb7u7uAoBar+zsbEEQBGH8+PF13nd3d2/U50FEjcdzNIiImilBEDBlyhTExMQgMTERdnZ2te5bWVnhn//8J2bPng3g7pQVCwuLWucXbNy4EaNHjwZwd8pKu3btxPML6OkQBAGFhYWIjY1FdHQ09u7diw4dOsDX1xdKpRJdunSBtvaDJxqUl5dj5MiREAQBO3bsgJGR0VPsPRFRwzFoEBE1U5MmTUJkZCRiY2M1po7IZDLx8LhFixZh4cKFiIiIgJ2dHRYsWIDExEScO3dO/CL63nvvIS4uDmvXroWpqSlmzpyJwsJCpKWlNfhQOJKGIAhQq9XYvn07oqOjsXv3blhZWcHX1xf+/v7o1q2bRuioqKjAqFGjUFlZiV27dqFNmzZN2Hsiovph0CAiaqYetIYiIiICQUFBAO5+Yf3444+xZs0aFBcXo3fv3li5cqW4YBwAbt26hVmzZiEyMhIVFRUYNGgQVq1ahfbt2z+Nx6B6KCsrw86dOxEVFYVdu3bB1NQUPj4+UCqVcHZ2RkBAAMrKyhAfHw+ZTNbU3SUiqhcGDSIiombk5s2b2LNnD6KiohAXF4eKigrY2NggNTUVxsbGTd09IqJ6Y9AgIiJqpiorK7FkyRIolUp07ty5qbtDRNQgDBpERERERCQ5nqNBRERERESSY9AgIiIiIiLJMWgQEREREZHkGDSIiIiIiEhyDBpERERERCQ5Bg0iIiIiIpIcgwYREREREUmOQYOIiIiIiCTHoEFERM3WwoUL0bNnTxgZGcHCwgJKpRLnzp3TKBMUFAQtLS2Nl6urq0aZyspKTJkyBWZmZmjVqhV8fX1x7dq1p/koREQvHAYNIiJqtpKSkjB58mSkpqYiISEBt2/fxuDBg1FeXq5RztPTE7m5ueJr586dGvenT5+OmJgYbN68GYcPH0ZZWRm8vb1x586dp/k4REQvFC1BEISm7gQREVF9FBQUwMLCAklJSejXrx+AuyMaJSUl2Lp1a5111Go1zM3NsWHDBowZMwYAkJOTg/bt22Pnzp0YMmTIU+s/EdGLhCMaRET0zFCr1QAAU1NTjeuJiYmwsLCAvb09QkJCkJ+fL95LS0tDdXU1Bg8eLF6zsrKCo6MjkpOTn07HiYheQAwaRET0TBAEATNmzEDfvn3h6OgoXvfy8sKmTZuwf/9+LFmyBMeOHcPAgQNRWVkJAFCpVNDX14eJiYnG+8nlcqhUqqf6DI1VXFyMwMBAyGQyyGQyBAYGoqSk5KF1BEFAeHg4rKys0LJlS/Tv3x9nzpzRKFOftSv1aXvatGno0aMHDAwM0LVr14f268KFCzAyMoKxsXEDPgEiehYxaBAR0TMhNDQUGRkZ+PHHHzWujxkzBsOGDYOjoyN8fHywa9cunD9/Hjt27Hjo+wmCAC0trSfZZckEBAQgPT0d8fHxiI+PR3p6OgIDAx9a5/PPP8fSpUuxYsUKHDt2DAqFAq+//jpKS0vFMvVZu1KftgVBQHBwsDg17UGqq6vxj3/8A6+99lojPgUieuYIREREzVxoaKjQrl074dKlS/Uq36FDB+Gzzz4TBEEQ9u3bJwAQioqKNMo4OzsLYWFhkvdVar/99psAQEhNTRWvpaSkCACErKysOuvU1NQICoVC/AwEQRBu3bolyGQyYfXq1YIgCEJJSYmgp6cnbN68WSzz559/Ctra2kJ8fHyj2p43b57g4uLywGeZPXu28OabbwoRERGCTCar5ydARM8qjmgQEVGzJQgCQkNDER0djf3798PW1vaRdQoLC/HHH3/A0tISANCjRw/o6ekhISFBLJObm4vMzEz06dPnifVdKikpKZDJZOjdu7d4zdXVFTKZ7IFrTLKzs6FSqTTWpRgYGMDd3V2sU5+1K41p+0H279+PX375BStXrmxQPSJ6duk2dQeIiIgeZPLkyYiMjERsbCyMjIzENRUymQwtW7ZEWVkZwsPDMWLECFhaWuLy5cuYM2cOzMzM4O/vL5Z966238P7776Nt27YwNTXFzJkz4eTkBA8Pj6Z8vHpRqVSwsLCodd3CwuKBa0zuXZfL5RrX5XI5rly5IpZ51NqVxrRdl8LCQgQFBWHjxo1o06ZNvesR0bONIxpERNRsffPNN1Cr1ejfvz8sLS3F108//QQA0NHRwenTp+Hn5wd7e3uMHz8e9vb2SElJgZGRkfg+y5Ytg1KpxOjRo/Hqq6/C0NAQ27dvh46OTlM9GsLDw2sdNHj/6/jx4wBQ51oSoR5rTO6/X58695dpbNt/FRISgoCAAHFLYiJ6MXBEg4iImi3hEUc9tWzZErt3737k+7Ro0QLLly/H8uXLperaYwsNDcXYsWMfWsbGxgYZGRnIy8urda+goKDWiMU9CoUCwN0RiXtTyAAgPz9frKNQKFBVVYXi4mKNUY38/HxxSplCoWhw23XZv38/tm3bhi+++ALA3Z9rTU0NdHV18e233yI4OLje70VEzw4GDSIioiZgZmYGMzOzR5Zzc3ODWq3G0aNH0atXLwDAkSNHoFarH7jGxNbWFgqFAgkJCejWrRsAoKqqCklJSVi0aBEAzbUro0ePBvC/tSuff/55o9uuS0pKisZOVrGxsVi0aBGSk5Px0ksv1ft9iOjZwqBBRETUjHXq1Amenp4ICQnBmjVrAABvv/02vL290bFjR7Gcg4MDFi5cCH9/f2hpaWH69OlYsGAB7OzsYGdnhwULFsDQ0BABAQEA6rd2pb5tX7hwAWVlZVCpVKioqEB6ejoAoHPnztDX10enTp00nun48ePQ1tbWOA+FiJ4/DBpERETN3KZNmzB16lRxhyhfX1+sWLFCo8y5c+fEk9MBYPbs2aioqMCkSZNQXFyM3r17Y8+ePbXWrujq6mL06NGoqKjAoEGDsHbtWo21K/Vpe+LEiUhKShL/fG8UJTs7GzY2NtJ8CET0zNESHjUBloiIiIiIqIG46xQREREREUmOQYOIiIiIiCTHoEFERERERJJj0CAiIiIiIskxaBARERERkeQYNIiIiIiISHIMGkREREREJDkGDSIiIiIikhyDBhERERERSY5Bg4iIiIiIJMegQUREREREkmPQICIiIiIiyTFoEBERERGR5Bg0iIiIiIhIcgwaREREREQkOQYNIiIiIiKSHIMGERERERFJjkGDiIiIiIgkx6BBRERERESSY9AgIiIiIiLJMWgQEREREZHkGDSIiIiIiEhyDBpERERERCQ5Bg0iIiIiIpIcgwYREREREUmOQYOIiIiIiCTHoEFERERERJJj0CAiIiIiIskxaBARERERkeQYNIiIiIiISHIMGkREREREJDkGDSIiIiIiktz/AX+vQyek/cSBAAAAAElFTkSuQmCC",
      "text/plain": [
       "<Figure size 1000x1000 with 1 Axes>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "ax = plt.figure(figsize=(10,10)).add_subplot(projection='3d')\n",
    "# ax.axes.set_xlim3d(left=0.65, right=0.7) \n",
    "# ax.axes.set_ylim3d(bottom=-0.15, top=0.15) \n",
    "# ax.axes.set_zlim3d(bottom=0.625, top=0.825) \n",
    "ax.set_xlabel('$X$', fontsize=12)\n",
    "ax.set_ylabel('$Y$', fontsize=12)\n",
    "ax.set_zlabel('$Z$', fontsize=12)\n",
    "# ax.set_zticks(np.linspace(0.625,0.825,5).round(3))\n",
    "# ax.set_xticks(np.linspace(0.65,0.7,20).round(2))\n",
    "# ax.set_yticks(np.linspace(-0.15,0.15,5).round(2))\n",
    "ax.plot(x_tool, y_tool, z_tool, label='Tool Trajectory')\n",
    "ax.plot(np.full(len(y_tool),0.65), y_tool, z_tool, label='Projection of Circle on X Plane')\n",
    "ax.legend()\n",
    "\n",
    "plt.show()\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 23,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
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       " [-8.33233329071737e-9, -0.698763946662660, 1.50328203168814]]"
      ]
     },
     "execution_count": 23,
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